JP2022528892A - Steerable equipment with hinges with slotted structure - Google Patents

Abstract

The cylindrical element with the hinge structure has a first portion (524; 1124; 522 (n-1); 1122 (n-1)) and a second portion (522 (1); 1122 (1); Two rotating sections (530 (1); 1130 (1); 522 (n); 1122 (n)) arranged at positions rotated 180 ° with respect to each other in the tangential direction of the cylindrical elements. A second portion that is rotatable with respect to a first portion (524; 1124; 522 (n-1); 1122 (n-1)) about 530 (n); 1130 (n)) and an attachment. It has elements (502 (1); 1006; 502 (n)). The rotating section (530 (1); 1130 (1); 530 (n); 1130 (n)) is the first portion (524; 1124; 522 (n-1); 1122 (n-1)) or the first. Pins (556 (1); 1156 (1); 556 (n); 1156 (n)) in any of the two portions (522 (1); 1122 (1); 522 (n); 1122 (n)). ) Is provided, the pins (556 (1)); 1156 (1); 556 (n); 1156 (n)) are provided with mounting elements (502 (1); 1006; 502 (n)). ), And the first part (524; 1124; 522 (n-1); 1122 (n-1)) and the second part (522 (1); 1122 (1); 522). (N); 1122 (n)) is realized by being attached to another portion of the attachment element (502 (1); 1006; 502 (n)), thereby the first portion. (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)) are in the longitudinal direction. It cannot move relative to each other in the tangential and radial directions, but is configured to rotate relative to each other around the center of rotation. [Selection diagram] FIG. 9c

Description

[0001] The present invention relates to a steerable instrument for endoscopy and / or invasive applications such as in surgery. The steerable device according to the invention can be used for both medical and non-medical uses. Examples of the latter include inspection and / or repair of mechanical and / or electronic hardware in hard-to-reach locations. Therefore, terms used in the following description, such as endoscopic applications or invasive equipment, need to be broadly interpreted.

[0002] From surgical interventions that require a large incision to expose the target area, to minimally invasive surgical interventions, that is, surgical interventions that require only a natural hole or a small incision to establish access to the target area. The conversion to intervention is a well-known and ongoing process. When performing minimally invasive surgical interventions, operators such as doctors need an access device that is configured to insert and guide the invasive device into the human or animal body through the body's access port. be. To reduce scar tissue formation and pain in human or animal patients, access ports are preferably provided by a single small incision in the skin and subcutaneous tissue. From this point, the likelihood of using the body's natural holes is even higher. Further, the access device preferably allows the operator to control one or more degrees of freedom provided by the invading device. In this way, the operator can ergonomically and accurately take the necessary measures in the target area of the human or animal body while reducing the risk of collision of the equipment used.

[0003] Surgical invasive devices and endoscopes in which these devices are guided towards a target area are well known in the art. Both invasive devices and endoscopes may be equipped with steerable tubes that enhance their navigation and steering capabilities. Such steerable tubing preferably comprises a proximal end comprising at least one flexible zone, a distal end comprising at least one flexible zone, and a rigid or flexible intermediate portion. The steerable tube further comprises a steering configuration adapted to convert at least a portion of the deflection of the proximal end with respect to the middle portion of stiffness to the associated deflection of at least a portion of the distal end.

[0004] Further, the steerable tube preferably comprises several coaxially arranged cylindrical elements, including an outer element, an inner element, and one or more intermediate elements. The intermediate element is the number of flexible zones at the proximal and distal ends of the tube, as well as the desired implementation of the steering member of the steering configuration, i.e., all steering members within a single intermediate element. It depends on whether it can be arranged or whether the steering members are divided into different sets and each set of steering members is arranged in different intermediate members. Further, the steering member can be divided into sub-parts arranged in different intermediate members. In most of the prior art devices, the steering configuration comprises a conventional steering cable, for example, with a diameter of 1 mm or less, as a steering member, the steering cable being relevant at the proximal and distal ends of the tube. It is located between the flexible zones. However, steering cables may have drawbacks in certain applications. Therefore, it may be preferable to avoid them and implement the steering member by one or more sets of longitudinal elements forming an integral part of one or more intermediate elements. Each of the intermediate elements is either by using a suitable material addition technique such as injection molding or plating, or starting from a cylindrical element and then a suitable material removal technique such as laser cutting, photochemical etching, deep pressing. It can be manufactured by using conventional chipping techniques such as drilling or milling, or high pressure water jet cutting systems. Of the material removal techniques described above, laser cutting is very advantageous as it allows for very accurate and clean removal of material under reasonable economic conditions. Further details regarding the design and manufacture of the steerable tubes and steering components thereof described above are described, for example, in WO2009 / 112060A1, WO2009 / 127236A1, US13 / 160,949, and US13 / 548,935 by the applicant. All such applications are hereby incorporated by reference in their entirety. The hinges of the present invention are applicable to all the constructs described in these patent documents. Moreover, the hinges of the present invention are equally applicable to equipment with "classical" cables or wires.

[0005] The steerable invading device is typically placed at the proximal end of the steerable tube to steer the tube and / or operate an instrument located at the distal end of the steerable tube. Equipped with a handle. Such an instrument can be, for example, a manual manipulator such as a camera, such as scissors, forceps, or a manipulator that uses an energy source such as, for example, an electrical, ultrasonic, or light energy source. The device may be a catheter.

[0006] In the present application, the terms "proximal" and "distal" are defined for an operator, eg, a physician operating a device or endoscope. For example, the proximal end should be interpreted as a portion located near the physician and the distal end as a portion located away from the physician.

[0007] In these steerable devices, the longitudinal element (or steering wire or cable) should at least allow the device to bend with respect to the longitudinal axis of the device at both the proximal and distal ends. Must be flexible in the part. These longitudinal elements are often located between adjacent outer and inner cylindrical elements. When bending these flexible zones of the device, in each similar zone, these longitudinal elements bend along with the bendable portions of the outer and inner cylindrical elements.

[0008] The bendable zone within the cylindrical element can be realized by a hinge manufactured as a slotted structure within the cylindrical element. Such slots can be made by laser cutting or water cutting on cylindrical elements. Optimize such hinges with respect to flexibility (ie, flexing capacity), resistance to elasticity of the cylindrical element in the longitudinal direction (longitudinal rigidity), and resistance to elasticity of the cylindrical element in the tangential direction (tangential rigidity). Is continuously desired. There is a particular need for hinges that provide the cylindrical element with a bending capacity of more than 90 ° along the shortest longitudinal portion of the cylindrical element without the hinge deviating from its elastic range. The more specific background regarding hinges is as follows.

[0009] In the steerable equipment described in WO2009 / 112060 and WO2009 / 127236, the flexible sections in the inner and outer layers require some sort of hinge and / or elastic structure to provide the bendability of these sections. be. Preferably, bending of these sections requires minimal force and minimal friction, but flexible sections have sufficient longitudinal strength and torsion (rotation) to provide rugged handling and maneuverability. Should have strength. As another requirement, after manufacturing the geometry and features required for these layers, the machined tubing should still be integrated and straight for further handling, alignment, and equipment assembly processes. There are times when there is.

[0010] The hinge is a small material that can be easily bent by elastic deformation and keeps the machined tube integral and straight, as shown, for example, in WO2009 / 112060, WO2009 / 127236, and WO2018 / 067004. It can be formed by elements. The disadvantage of these types of hinges is that bendability is limited because it is desired to keep the deformation of the hinge element elastic rather than plastic. The plastic deformation greatly shortens the fatigue life of the hinge, which may maintain the structural integrity of the instrument only for a small number of deflections of the bendable zone. Another drawback is that elastic bending of the hinge material requires a relatively large force, and a strong pull wire must be used to prevent deflection loss due to elastic stretching of the pull wire. There is.

[0011] The hinge can also be formed by cutting an actual hinge in which the circularly shaped hinge element is free to rotate in the corresponding recess. To prevent the tube from unraveling after machining, the shape of this hinge should be such that the circular element is surrounded by a corresponding recess over 180 degrees, which is longitudinally complete. Sex is brought. However, the hinge can still separate by sliding along the hinge axis itself (perpendicular to the longitudinal axis of the tube), so the machined tube can still be disassembled into separate parts. There is. Also, after processing, the tubes with these hinges do not remain straight after processing, are very flexible and bend easily. This makes further handling, alignment, and equipment assembly difficult. These hinges are described, for example, in FIG. 5A of the unpublished Dutch patent application NL2021823. In order to prevent the flexibility of the machined tube and the separation of parts along the hinge axis, these are very small elastic bridges that are easily bendable, as described in FIGS. 16B and 18 of NL2021823. Can be incorporated into the hinge. Also, as described in WO2016089202, removable attachments can be applied to such hinges to keep the tube integral and straight after processing. This combination of "true" hinges in combination with removable fittings is shown in FIG. 16A of NL2021823. The main drawback of this "true" hinge is that the geometry of the hinge itself, as can be seen in FIG. 10 of NL2021823, when one wants to keep the overall size of the hinge structure within acceptable limits. May limit the deflection strongly. Another drawback when combined with elastically deformable elements is the increased bending force.

[0012] WO2008 / 139768A1, US2009 / 0124857A1, WO2004 / 103430A2, and US2006 / 0199999A1 describe equipment in which a plurality of cylindrical sections are arranged along a cylindrical axis to form a cylindrical element. .. The hinges are implemented by ears or similar structures provided at the ends of the cylindrical sections, the cylindrical sections being arranged such that these ears or similar structures overlap radially. Therefore, a pin can be inserted into the selvage opening to form a hinge. However, these arrangements meet the requirements mentioned above herein, that the machined tubing should still be integrated and straight for further handling, alignment, and equipment assembly processes. do not have. In addition, these arrangements require multiple individual cylindrical sections to be combined and aligned in order to assemble a single cylindrical or tubular element, leading to complex assembly procedures. Also, after assembly, the tubes with these hinges do not stay straight, are very flexible and bend easily. This makes further handling and equipment assembly difficult, including coaxial alignment with additional tubular elements.

[0013] An object of the present invention is to provide a cylindrical element with a hinge having a slotted structure optimized for bendability. In one embodiment, it is also an object to provide an endoscope and / or steerable device for invasive applications provided with such a hinge.

[0014] This is achieved by the cylindrical element of claim 1.

[0015] Cylindrical elements can be manufactured by the method described in the independent claim of the method.

[0016] Embodiments of the present invention are described in the dependent claims.

[0017] The cylindrical element with a hinge according to claim improves bendability. The device of claim has a strong "true" hinge, which allows some parts to rotate freely with respect to each other, allowing for high deflection and limiting fatigue life. It does not have a high bending force.

[0018] It can be seen here that the present invention is described in detail with reference to the "cylindrical" element. However, it should be understood that "cylindrical" is not limited to a circular cross section. Any other suitable cross section may be applied, including ellipses, rectangles and the like.

Further features and advantages of the invention will become apparent from the description of the invention in a non-limiting and non-exclusive embodiment. These embodiments should not be construed as limiting the scope of protection. Those skilled in the art will appreciate that other alternatives and equivalent embodiments of the invention can be conceived and implemented without departing from the scope of the invention. Embodiments of the present invention will be described with reference to the figures in the accompanying drawings, where similar or the same reference symbols indicate similarly the same or corresponding portions.

[0020] A schematic perspective view of an invasive device assembly with two steerable devices is shown. [0021] A side view of a non-limiting embodiment of a steerable invading device is shown. [0022] Provided is a detailed perspective view of a non-limiting embodiment of an elongated tubular body of a steerable device. [0023] A more detailed view of the distal end of the elongated tubular body shown in FIG. 2b is provided. [0024] A longitudinal sectional view of an elongated tubular body of the steerable device shown in FIG. 2b is shown. [0025] A longitudinal cross-sectional view of the elongated tubular body of the steerable device shown in FIG. 2b, in which the first proximal flexibility zone and the first distal flexibility zone are bent, is shown of the steering configuration. Illustrate the operation. [0026] FIG. 2 shows a longitudinal cross-sectional view of the elongated tubular body of the steerable device shown in FIG. 2e, in which the second proximal and second distal flexibility zones are additionally bent, and the steering is shown. The operation of the construct is further illustrated. [0027] FIG. 6 shows a longitudinal sectional view of an exemplary embodiment of a steerable device having one proximal flexibility zone and one distal flexibility zone. [0028] An exploded view of the three cylindrical elements of the steerable device shown in FIG. 2g is shown. [0029] FIG. 2 shows an expanded top view of an exemplary embodiment of the intermediate cylindrical element of the steerable device shown in FIG. 2h. The intermediate cylindrical element can be formed by rolling an unfolded shape into a cylindrical configuration and attaching adjacent sides of the rolled configuration by any known mounting means such as welding techniques. [0030] A perspective view of a portion of the elongated tubular body shown in FIG. 2b, with the outer cylindrical element partially removed, the first proximal flexible zone and the first distant of the elongated tubular body. An exemplary embodiment of a longitudinal steering element obtained after providing a longitudinal slit in the wall of an intermediate cylindrical element interconnecting a position flexible zone is shown. [0031] A 3D diagram of an exemplary embodiment of the present invention is shown. [0032] A hinge structure according to an embodiment of the present invention is shown. A hinge structure according to an embodiment of the present invention is shown. A hinge structure according to an embodiment of the present invention is shown. A hinge structure according to an embodiment of the present invention is shown. [0033] A schematic cross-sectional view of a portion of the hinge structure according to one embodiment is shown. [0034] A schematic cross-sectional view of a portion of the hinge structure according to a further example is shown. [0035] A hinge structure according to another embodiment of the present invention is shown. A hinge structure according to another embodiment of the present invention is shown. A hinge structure according to another embodiment of the present invention is shown. [0036] A hinge structure according to another embodiment of the present invention is shown. A hinge structure according to another embodiment of the present invention is shown. A hinge structure according to another embodiment of the present invention is shown. [0037] Shown is a hinge structure that, in combination with the structure of FIG. 9a, forms another embodiment of the invention. FIG. 9 shows a hinge structure that forms another embodiment of the invention in combination with the structure of FIG. 9a. [0038] A hinge structure according to another embodiment of the present invention is shown.

[0039] FIG. 2a shows a non-limiting embodiment of the steerable invading device 10. FIG. 1 shows a non-limiting embodiment of an invasion device assembly 1 having an introducer with two such steerable invasion devices 10. The details of the steerable invading device 10 will be described in relation to FIGS. 2b to 2j.

[0040] FIG. 2a shows a side view of the steerable invading device 10. The steerable device 10 has a proximal end 11 including two working flexible zones 14 and 15, a distal end 13 including two distal flexible zones 16 and 17, and an intermediate portion 12. It comprises an elongated tubular body 18. Here, the intermediate portion 12 is shown to be rigid. However, for certain applications, the intermediate portion 12 may be flexible, as described in detail below. The operating flexible zones 14 and 15 in the present embodiment are configured as a flexible proximal zone, and are further referred to as a flexible proximal zone. These flexible proximal zones 14, 15 are connected to the distal flexible zone by a suitable longitudinal element (not shown in FIG. 2a). Alternatively, the flexible proximal zone may be connected to the distal flexible zone by a steering cable, as is known in the prior art. By bending one such proximal flexible zone 14, 15 respectively, as described in detail below, the corresponding flexible distal zone also bends.

[0041] As mentioned above, the intermediate portion 12 may be flexible. This can be achieved by one or more flexible zones. However, these flexible zones are merely flexible and their flexion is not controlled by another flexible zone. If desired, three or more steerable flexible distal zones can be provided. An instrument such as forceps 2 is arranged at the distal end 13. A handle 3 is located at the proximal end 11, which for example opens and closes a jaw of forceps 2 via a suitable actuation cable (not shown) located within the device. It is done like this. Cable arrangements for doing so are well known in the art. Other instruments may be provided at the distal end, as known to those of skill in the art.

FIG. 2b provides a detailed perspective view of the distal portion of the elongated tubular body 18 of the steerable device 10, wherein the elongated tubular body 18 is the first distal flexibility at the distal end portion 13. It is shown to include several coaxially arranged layers or cylindrical elements, including an outer cylindrical element 104 at the rear end of the zone 16. The distal end portion 13 of the outer cylindrical element 104 is fixedly attached to the cylindrical element 103 located adjacent to the inside of the outer cylindrical element 104, for example, by spot welding at the welding spot 100. However, any other suitable mounting method can be used, including any mechanical snap-fit connection or bonding with a suitable adhesive.

[0043] FIG. 2c provides a more detailed view of the distal end 13, in which in this embodiment the distal end 13 is three coaxially arranged layers or cylindrical elements, ie. It is shown that the inner cylindrical element 101, the first intermediate cylindrical element 102, and the second intermediate cylindrical element 103 are included. All three of the distal ends of the inner cylindrical element 101, the first intermediate cylindrical element 102, and the second intermediate cylindrical element 103 are fixed and attached to each other. This can be done by spot welding at the weld spot 100. However, any other suitable mounting method can be used, including any mechanical snap-fit connection or bonding with a suitable adhesive. The attachment point can be at the edges of the inner cylindrical element 101, the first intermediate cylindrical element 102, and the second intermediate cylindrical element 103, as shown. However, these attachment points may be located some distance from these edges, preferably between the edges and the location of the flexible zone 17.

It will be apparent to those skilled in the art that the elongated tubular body 18 shown in FIG. 2b comprises a total of four cylindrical elements. The elongated tubular body 18 according to the embodiment shown in FIG. 2b comprises two intermediate cylindrical elements 102 and 103 in which the steering member of the steering configuration is located.

[0045] The steering configuration in the exemplary embodiment of the elongated tubular body 18 shown in FIG. 2b consists of two flexible zones 14 and 15 at the proximal end 11 of the elongated tubular body 18 and the elongated tubular body 18. It comprises two flexible zones 16 and 17 at the distal end 13 and a steering member located between the relevant flexible zones at the proximal end 11 and the distal end 13. An exemplary actual arrangement of steering members is shown in FIG. 2d, and a schematic longitudinal sectional view of an exemplary embodiment of the elongated tubular body 18 shown in FIG. 2b is provided.

[0046] FIG. 2d is a cross section of the four layers or cylindrical elements described above, namely the inner cylindrical element 101, the first intermediate cylindrical element 102, the second intermediate cylindrical element 103, and the outer cylindrical element 104. Is shown.

[0047] The inner cylindrical element 101 is a rigid ring 111, first possible, located at the distal end 13 of the steerable device 10, when viewed along the entire length from the distal end to the proximal end of the device. Flexible portion 112, first intermediate rigid portion 113, second flexible portion 114, second intermediate rigid portion 115, third flexible portion 116, third intermediate rigid portion 117, fourth It comprises a flexible portion 118 and a rigid end portion 119 located at the proximal end portion 11 of the steerable device 10.

[0048] The first intermediate cylindrical element 102 has a stiffness ring 121, a first flexible portion 122, and a first intermediate stiffness when viewed along the entire length from the distal end to the proximal end of the device. A portion 123, a second flexible portion 124, a second intermediate rigid portion 125, a third flexible portion 126, a third intermediate rigid portion 127, a fourth flexible portion 128, and a rigid end portion. It comprises a portion 129. The portions 122, 123, 124, 125, 126, 127, and 128 together form a longitudinal element 120 that can be moved longitudinally, such as a wire. Rigidity ring 121 of the first intermediate element 102, first flexible portion 122, first intermediate rigid portion 123, second flexible portion 124, second intermediate rigid portion 125, third flexible portion. The longitudinal dimensions of the sex portion 126, the third intermediate rigid portion 127, the fourth flexible portion 128, and the rigid end portion 129 are the rigid ring 111 of the inner cylindrical element 101, the first flexible portion, respectively. Sexual portion 112, first intermediate rigid portion 113, second flexible portion 114, second intermediate rigid portion 115, third flexible portion 116, third intermediate rigid portion 117, fourth possible It is aligned with the longitudinal dimensions of the flexible portion 118 and the rigid end portion 119, respectively, preferably approximately equal to and consistent with these portions. In the present description, "nearly equal" means that the same dimensions are equal within a limit of less than 10%, preferably less than 5%.

Similarly, the first intermediate cylindrical element 102 comprises one or more other longitudinal elements, one of which is indicated by reference number 120a.

[0050] The second intermediate cylindrical element 103 has a first stiffness ring 131, a first flexible portion 132, a second, when viewed along the entire length from the distal end to the proximal end of the device. Rigidity ring 133, second flexible portion 134, first intermediate rigid portion 135, first intermediate flexible portion 136, second intermediate rigid portion 137, second intermediate flexible portion 138, And a rigid end portion 139. The portions 133, 134, 135, and 136 together form a longitudinal element 130 that can be moved longitudinally, such as a wire. The first rigid ring 131 of the second intermediate cylinder 103, the first flexible portion 132, the second rigid ring 133 and the second flexible portion 134, the first intermediate rigid portion 135, the first The longitudinal dimensions of the intermediate flexible portion 136, the second intermediate rigid portion 137, the second intermediate flexible portion 138, and the rigid end portion 139 are the stiffness ring 111 of the first intermediate element 102, respectively. First flexible portion 112, first intermediate rigid portion 113, second flexible portion 114, second intermediate rigid portion 115, third flexible portion 116, third intermediate rigid portion 117 , The fourth flexible portion 118, and the rigid end portion 119 are respectively aligned with the longitudinal dimensions, preferably approximately equal to and consistent with these portions.

Similarly, the second intermediate cylindrical element 103 comprises one or more other longitudinal elements, one of which is indicated by reference number 130a.

[0052] The outer cylindrical element 104 has a first stiffness ring 141, a first flexible portion 142, and a first intermediate stiffness when viewed along the entire length from the distal end to the proximal end of the device. It comprises a portion 143, a second flexible portion 144, and a second rigid ring 145. The longitudinal dimensions of the first flexible portion 142, the first intermediate rigid portion 143, and the second flexible portion 144 of the outer cylindrical element 104 are the second of the second intermediate element 103, respectively. Aligned with the longitudinal dimensions of the flexible portion 134, the first intermediate rigid portion 135, and the first intermediate flexible portion 136, respectively, preferably approximately equal to and consistent with these portions. ing. The rigid ring 141 has substantially the same length as the rigid ring 133, and is fixedly attached to the rigid ring 133 by, for example, spot welding or adhesion. Preferably, the stiffness ring 145 is a second intermediate only over the length required to make a proper fixation attachment between the stiffness ring 145 and the second intermediate stiffness portion 137, respectively, by spot welding or gluing, for example. It overlaps with the rigid portion 137. Rigid rings 111, 121, and 131 are attached to each other, for example, by spot welding or gluing. This may be done at the edges, or at a distance from these edges.

[0053] In one embodiment, the same may be applied to the rigid end portions 119, 129, and 139, which may also be attached together in an equivalent fashion. However, the structure may be such that the diameter of the cylindrical element in the proximal portion is larger or smaller than the diameter in the distal portion. In such an embodiment, the structure in the proximal portion is different from that shown in FIG. 2d. As a result of the increase or decrease in diameter, amplification or attenuation is achieved, i.e., the bending angle of the flexible zone in the distal portion is greater or less than the bending angle of the corresponding flexible portion in the proximal portion.

[0054] The inner and outer diameters of the cylindrical elements 101, 102, 103, and 104 are such that the outer diameter of the inner cylindrical element 101 is the inner diameter of the first intermediate cylindrical element 102 at the same position along the elongated tubular body 18. Slightly smaller, the outer diameter of the first intermediate cylindrical element 102 is slightly smaller than the inner diameter of the second intermediate cylindrical element 103, and the outer diameter of the second intermediate cylindrical element 103 is the outer cylindrical element. It is chosen to be slightly smaller than the inner diameter of 104, which allows adjacent cylindrical elements to slide against each other. Dimensioning should allow sliding fit between adjacent elements. The gap between adjacent elements may generally be on the order of 0.02 to 0.1 mm, depending on the particular application and material used. The gap is preferably smaller than the wall thickness of the longitudinal elements to prevent overlapping configurations of the longitudinal elements. It is generally sufficient to limit the gap to about 30% to 40% of the wall thickness of the longitudinal element.

As can be seen in FIG. 2d, the flexible zone 14 at the proximal end 11 forms a second intermediate of forming a first set of longitudinal steering members of the steering configuration of the steerable device 10. The cylindrical elements 103 are connected to the flexible zone 16 at the distal end 13 by portions 134, 135, and 136. Further, the flexible zone 15 of the proximal end 11 is a portion 122, 123, 124, 125, 126 of the first intermediate cylindrical element 102 forming a second set of longitudinal steering members of the steering configuration. It is connected to the flexible zone 17 at the distal end 13 by 127, and 128. Using the above structure, the steerable device 10 can be used for double bending. The operating principle of this structure will be described in relation to the examples shown in FIGS. 2e and 2f.

[0056] For convenience, as shown in FIGS. 2d, 2e, and 2f, the various parts of the cylindrical elements 101, 102, 103, and 104 are grouped into zones 151-160 as defined below. Has been done. Zone 151 includes rigid rings 111, 121, and 131. Zone 152 comprises portions 112, 122, and 132. Zone 153 includes rigid rings 133 and 141 and portions 113 and 123. Zone 154 comprises portions 114, 124, 134, and 142. Zone 155 comprises portions 115, 125, 135, and 143. Zone 156 comprises portions 116, 126, 136, and 144. Zone 157 comprises a stiffness ring 145 and parts of portions 117, 127, and 137 that coincide with it. Zone 158 comprises parts of the outer portions 117, 127, and 137 of Zone 157. Zone 159 comprises portions 118, 128, and 138. Finally, the zone 160 comprises rigid end portions 119, 129, and 139.

[0057] A bending force can be applied to the zone 158 in any radial direction to deflect at least a portion of the distal end 13 of the steerable device 10. According to the examples shown in FIGS. 2e and 2f, the zone 158 is bent downward with respect to the zone 155. As a result, the zone 156 bends downward. Zone 156 by the first set of steering members comprising portions 134, 135, and 136 of the second intermediate cylindrical element 103 disposed between the second intermediate stiffness portion 137 and the second stiffness ring 133. The downward flexion of is converted into an upward flexion of the zone 154 with respect to the zone 155 by the longitudinal displacement of the first set of steering members. This is shown in both FIGS. 2e and 2f.

[0058] Note that, as shown in FIG. 2e, the exemplary downward flexion of zone 156 results in an upward flexion of zone 154 only at the distal end of the device. The bending of the zone 152 as a result of the bending of the zone 156 is prevented by the zone 153 disposed between the zones 152 and 154. Then, when a bending force is applied to the zone 160 in an arbitrary radial direction, the zone 159 also bends. As shown in FIG. 2f, the zone 160 is bent upward with respect to the position shown in FIG. 2e. As a result, the zone 159 bends upward. By a second set of steering members comprising portions 122, 123, 124, 125, 126, 127, and 128 of the first intermediate cylindrical element 102 disposed between the rigid ring 121 and the rigid end portion 129. , The upward bend of the zone 159 is converted into a downward bend of the zone 152 with respect to that position shown in FIG. 2e by the longitudinal displacement of the second set of steering members.

[0059] FIG. 2f further shows that the initial bending of the device in zone 154 shown in FIG. 2e is maintained, which, as mentioned above, is dominated only by the bending of zone 156. This is because the bending of the zone 152 is dominated only by the bending of the zone 159. The fact that the zones 152 and 154 are independently bendable with respect to each other allows the distal end 13 of the steerable device 10 to be provided with independent positions and longitudinal orientations. Specifically, the distal end 13 can take an advantageous S-shape. Those skilled in the art will appreciate that the ability to flex the zones 152 and 154 independently of each other significantly enhances the manoeuvrability of the distal end 13, and thus the steerable device 10 as a whole.

[0060] To adapt to specific requirements related to the bend radius and overall length of the distal end 13 and proximal end 11 of the steerable device 10, or to bend and distal at least a portion of the proximal end 11. It is clear that the length of the flexible portion shown in FIGS. 2d-2f can be varied to accommodate the amplification factor or damping factor between the bends of at least a portion of the end 13.

[0061] The steering member comprises one or more sets of longitudinal elements forming an integral part of one or more intermediate cylindrical elements 102, 103. Preferably, the longitudinal element comprises the rest of the wall of the intermediate cylindrical elements 102, 103 after the wall of the intermediate cylindrical elements 102, 103 is provided with a longitudinal slit, the longitudinal slit being the remaining longitudinal. Demarcate the directional steering element.

[0062] Further details regarding the manufacture of the latter longitudinal steering element are provided with reference to FIGS. 2g-2i, one of which is only one at both the proximal end 11 and the distal end 13. The present invention relates to an exemplary embodiment of a steerable device comprising a flexible zone of.

[0063] FIG. 2g shows a longitudinal cross section of a steerable device 2201 comprising three coaxially arranged cylindrical elements: an inner cylindrical element 2202, an intermediate cylindrical element 2203, and an outer cylindrical element 2204. Suitable materials to be used to make the cylindrical elements 2202, 2203, and 2204 are shape memory alloys such as stainless steel, cobalt chromium, Nitinol®, plastics, polymers, composites, or other materials. Includes materials that can be cut. Alternatively, the cylindrical element can be made by a 3D printing process.

[0064] The inner cylindrical element 2202 has a first rigid end 2221, a first flexible portion 2222, an intermediate rigid portion 2223, and a second flexible portion located at the distal end 13 of the device 2201. It comprises a 2224 and a second rigid end 2225 located at the proximal end 11 of the device 2201.

[0065] The outer cylindrical element 2204 also has a first rigid end portion 2241, a first flexible portion 2242, an intermediate rigid portion 2243, a second flexible portion 2244, and a second rigid end portion 2245. Be prepared. The lengths of portions 2221, 2222, 2223, 2224, and 2225 of the cylindrical element 2202, and the lengths of the portions 2241, 2242, 2243, 2244, and 2245 of the cylindrical element 2204, respectively, are preferably inner cylindrical. When the element 2202 is inserted into the outer cylindrical element 2204, these different parts are substantially the same so that they are longitudinally aligned with each other.

[0066] The intermediate cylindrical element 2203 also has a first rigid end 2331 and a second rigid end 2335, which, in assembled state, correspond to two other cylindrical elements 2202 and 2204. It is located between the rigid portions 2221, 2241 and between 2225 and 2245, respectively. The intermediate portion 2333 of the intermediate cylindrical element 2203 comprises three or more separate longitudinal elements that can have different shapes and shapes, as described below. After assembling the three cylindrical elements 2202, 2203, and 2204, inserting the element 2202 into the element 2203, and inserting the two combined elements 2202 and 2203 into the element 2204, at least the first of the inner cylindrical elements 2202. The rigid end 2221, the first rigid end 2331 of the intermediate cylindrical element 2203, and the first rigid end 2241 of the outer cylindrical element 2204 are attached to each other at the distal end of the device. In the embodiments shown in FIGS. 2g and 2h, the second rigid end 2225 of the inner cylindrical element 2202, the second rigid end 2335 of the intermediate cylindrical element 2203, and the second stiffness of the outer cylindrical element 2204. The end 2245 is also attached to each other at the proximal end of the device so that the three cylindrical elements 2202, 2203, 2204 form one integral unit.

[0067] In the embodiment shown in FIG. 2h, the intermediate portion 2333 of the intermediate cylindrical element 2203 comprises several longitudinal elements 2338 having a similarly shaped cross section, so that the intermediate portion 2333 is an intermediate cylinder in FIG. 2i. It has an overall shape and shape as shown in the unfolded state of the shape element 2203. It is also clear from FIG. 2i that the intermediate portion 2333 is formed by several equidistant parallel longitudinal elements 2338 that span the circumference of the intermediate cylindrical portion 2203. Advantageously, the number of longitudinal elements 2338 is at least three so that the device 2201 is fully controllable in any direction, but any larger number is also possible. Preferably, the number of longitudinal elements 2338 is 6 or 8.

Manufacture of such an intermediate portion begins by injection molding or plating techniques or from a cylindrical tube with the desired inner and outer diameters and finally in the desired shape of the intermediate cylindrical element 2203. It is most conveniently done by removing the part of the wall of the cylindrical tube that is needed for the. However, as an alternative, any 3D printing method can be used.

[0069] Material removal can be done by various techniques such as laser cutting, photochemical etching, deep pressing, conventional chipping techniques such as drilling or milling, high pressure water jet cutting systems, or any suitable technique available. It can be done by a material removal process. Preferably, laser cutting is used because it allows the material to be removed very accurately and cleanly under reasonable economic conditions. The process described above requires additional steps to connect the various parts of the intermediate cylindrical element, as required by conventional equipment where conventional steering cables must be connected to the ends in some way. This is a convenient method because the member 2203 can be manufactured in one process, so to speak. The same type of technique can be used to make the inner cylindrical element 2202 and the outer cylindrical element 2204 with the respective flexible portions 2222, 2224, 2242, and 2244.

[0070] FIG. 3 shows after the longitudinal slit 5 is provided in the wall of the second intermediate cylindrical element 103 that interconnects the proximal flexible zone 14 and the distal flexible zone 16 as described above. An exemplary embodiment of the resulting longitudinal (steering) element 4 is shown. That is, the longitudinal steering element 4 is at least partially spiraled about the longitudinal axis of the device, so that the end portion of each steering element 4 in the proximal portion of the device is of the device. In the distal portion, it is arranged in an angular orientation about the longitudinal axis, which is different from the end portion of the same longitudinal steering element 4. When the longitudinal steering elements 4 are arranged in a linear orientation, bending of the equipment in the proximal portion of a plane results in bending of the equipment in the same plane but in the distal portion 180 degrees opposite. This helical structure of the longitudinal steering element 4 enables the effect that bending of the equipment in the proximal portion of one plane can result in bending of the equipment in another plane, or in the distal portion of the same plane in the same direction. do. A preferred helical structure is such that the end portion of each steering element 4 in the proximal portion of the device is 180 degrees about the longitudinal axis with respect to the end portion of the same longitudinal steering element 4 in the distal portion of the device. It is intended to be arranged in an angularly deviated orientation. However, any other angularly offset orientation, such as 90 degrees, is within the scope of this document. The slits are sized so that the movement of the longitudinal element is guided by the adjacent longitudinal element when provided in place on the steerable device.

[0071] Flexible portions 112, 132, 114, 142, 116, 144, 118, and 138 shown in FIG. 2d, and flexible portions 2222, 2224, 2242, and 2244 shown in FIGS. 2g and 2h. It can be obtained by the method described in European Patent Application No. 08004373.0 (page 5, lines 15-26) filed on March 10, 2008, using any other suitable process. A flexible portion can be produced.

[0072] Such a flexible portion may have a structure as shown in FIGS. 2b and 2c. That is, flexibility can be obtained by the plurality of slits 14a, 15a, 16a, 17a. For example, two circumferential slits may be provided on a cylindrical element along the same circumferential line, and both slits are located at some distance from each other. Multiple identical sets of circumferential slits 14a, 15a, 16a, 17a were provided at multiple distances in the longitudinal direction of the device, and the continuous set was rotated at an angularly rotated position, eg, 90 degrees each time. Placed in place. In such an arrangement, all parts of the cylindrical element are still connected to each other.

Further, as shown in FIG. 2d, portions 122, 123, 124, 125, 126, 127, of the first intermediate cylindrical element 102 forming the first and second sets of longitudinal steering members, respectively. And 128 and portions 134, 135, and 136 of the second intermediate cylindrical element 103 can be realized as the longitudinal steering element 4 as shown in FIG. 2h, the above manufacturing method can be used. The same applies to the longitudinal element 2338 of FIGS. 2h and 2i. Further, any embodiment described in EP2762058A can be used according to the present invention.

If not, longitudinal elements 4, 2338 can also be obtained by any other technique known in the art, for example as described in EP1708609A. The only limitation on the structure of the longitudinal elements used in these parts is that the overall flexibility of the device must be maintained where the flexible parts meet.

[0075] Different coaxially arranged layers or cylindrical elements 101, 102, 103, 104, 2202, 2203 as described above with respect to exemplary embodiments of the steerable device shown in FIGS. 2d, 2e, and 2f, respectively. , And 2204 can be made by any of the known methods if they are suitable for making a multi-layer system. A multi-layer system should be understood as a steerable device comprising at least two separate sets of longitudinal elements 4, 2338 to transmit the movement of the proximal end to the distal end. Assembly of different cylindrical elements can be achieved in the same way. A preferred method of making different cylindrical elements is described in EP2762058A above, the application of which is incorporated herein by reference in its entirety.

[0076] In the above embodiments, the proximal and distal portions are similarly structured. However, this is not always the case, as will be apparent below.

[0077] FIG. 4 shows a 3D diagram of an example of a steerable device. Similar reference numbers refer to the same elements in other figures. Those explanations will not be repeated here. The instrument comprises five coaxial cylindrical elements 202-210. The inner cylindrical element 210 is surrounded by an intermediate cylindrical element 208, the intermediate cylindrical element 208 is surrounded by an intermediate cylindrical element 206, and the intermediate cylindrical element 206 is surrounded by an intermediate cylindrical element 204. Finally, this intermediate cylindrical element 204 is surrounded by an outer cylindrical element 202. The inner intermediate cylindrical element may be made from a flexible swirl spring. The proximal and distal ends of the device are indicated by reference numbers 226 and 227, respectively.

[0078] As illustrated herein, the device 18 comprises a flexible zone 19 in the middle between the flexible zone 14 and the flexible zone 16. That is, the intermediate cylindrical element 204 (located on the outer surface of the region of the flexibility zone 19) is provided with a slotted structure to give the intermediate cylindrical element the desired flexibility. The longitudinal length of the slotted structure within the flexible zone 19 depends on the desired application. It may be the same length as the entire portion between the flexible zones 14 and 16. All other cylindrical elements 206, 208, 210 inside the intermediate cylindrical element 204 are also flexible in the flexible zone 19. Those cylindrical elements having longitudinal elements within the flexible zone 19 are, by definition, flexible. Others are preferably provided with suitable hinges made of suitable slotted structures.

[0079] According to the present invention, at least one of the slotted structures has a special design as described in detail below. This structure may be applied at any position where the device described with reference to the figure above has a hinge.

[0080] FIG. 5a shows a cylindrical element 500 with a hinge 501 made as a slotted structure. The cylindrical element 500 comprises a portion 504 and an additional portion 509 on the opposite side of the portion 504. Hinge 501 is located between them.

[0081] The hinge 501 comprises a plurality of hinge portions 502 (1), 502 (2), ... 502 (n), ..., 502 (N) (N is an integer greater than 1). In the illustrated example, each hinge portion 502 (n) has the same shape, but is not necessarily the case. Each of the illustrated hinge portions 502 (n) is a rigid ring shaped portion of the cylindrical element 500.

[0082] The portion 504 and the hinge portion 502 (1) are rotatable relative to each other by two rotatable sections 507 (1) (one visible in FIG. 5a), and these two rotatable sections 507 (1). ) Is rotated 180 ° with respect to each other in the tangential direction of the cylindrical element 500. To that effect, the ring-shaped portion 502 (1) has two extension portions 506 (1) arranged 180 ° opposite to each other when viewed in the tangential direction of the cylindrical element 500 (only one in FIG. 5a). (Visible) is provided. That is, the two rotatable sections 507 (1) and the two associated extensions 506 (1) are co-located along the central axis 500c (cylinder axis), with two rotatable sections and two extensions. The line connecting the parts is located so as to intersect the central axis at a right angle. Each extension 506 (1) has a circular outer edge oriented towards portion 504. The portion 504 is provided with two notches 505 (1) (only one visible in FIG. 5a) arranged 180 ° opposite to each other when viewed tangentially to the cylindrical element 500. Each notch 505 (1) has the same or slightly larger radius as the circular outer edge of the extension 506 (1) so that the extension 506 (1) can rotate within the notch 505 (1). Has a circular inner edge. Each notch 505 (1) accommodates one extension 506 (1).

[0083] Preferably, the extension 506 (1) and the notch 505 (1) are made by cutting a circular slot into the cylindrical element 500, for example by laser cutting or water cutting. Any other cutting technique may be used instead. In one example, the cutting process is performed such that the slot is interrupted by a small bridge 510 (1) so that the extension 506 (1) and the notch 505 (1) are still attached to each other. These bridges act as "breaking elements" as described in detail in patent application WO2016 / 089202A1 and unpublished patent application PCT / NL2019 / 050680. These bridges or breaking elements are deliberately made when the cylindrical elements and equipment are manufactured, but are deliberately made weak enough to break when a force above a certain threshold is applied to them. Here, they are damaged when the portion 504 and the hinge portion 502 (1) are rotated relative to each other about the two extensions 506 (1) with at least such a threshold force, as indicated by the double-headed arrow 503. Designed to do. The threshold force is selected so that the bridge 510 (1) is broken before either the portion 504 or the hinge portion 502 (1) is deformed beyond its maximum elasticity by the applied rotational force. As described below, they are only damaged later in the manufacturing process. Prior to breaking, a breaking element, such as the bridge 510 (1), imparts a given additional stiffness to the cylindrical element, thereby inserting the cylindrical element inside another cylindrical element or another cylinder. The cylindrical element can be manipulated more easily when the shape element is inserted into the cylindrical element. Once broken, the breaking element plays no further role and the extension 506 (1) can rotate within the notch 505 (1).

[0084] Such a breaking element can be produced as follows. Slots are created, for example, by directing a laser beam or water beam of predetermined energy and width towards the cylindrical element so as to cut over the entire thickness of the cylindrical element. The laser beam moves relative to the outer surface of the cylindrical element by moving the laser light source relative to the outer surface. However, at the position where the breaking element will be formed, the laser beam is interrupted for a certain period of time, but the laser light source still moves relative to the outer surface of the cylindrical element.

[0085] As mentioned above, these breaking elements break when the various parts of the slotted structure are first deflected against each other. A major advantage of such breaking elements is that after breaking, the distance between the two opposing sides of the breaking element is substantially 0 μm, resulting in very little play between them.

[0086] These types of breaking elements can be applied within the equipment described herein and between any elements or portions of cylindrical elements formed by laser cutting.

[0087] The breaking element should be designed in the following way. Prior to breaking, each breaking element is attached to the opposite portion of the cylindrical element. These opposing portions of the cylindrical element have their respective yield stress values that define the force at which the permanent deformation of these opposing portions occurs above that. In addition, each breaking element has its own breaking tensile stress value that defines the force applied to break the breaking element. The tensile stress value of each fracture element should be lower than the yield stress value of these opposite parts of the cylindrical element. For example, the tensile stress value of each fracture element ranges from 1% to 80% of the yield stress of these portions of the cylindrical element. This range may optionally be 1% to 50%.

[0088] The portion 504 is provided with an outer edge portion 514 facing the outer edge portion 512 of the hinge portion 502 (1). The outer edge portion 514 and the outer edge portion 512 define an open space between them, so that once the bridge 510 (1) is damaged, the portion 504 and the hinge portion 502 (1) have the outer edge portions 514 and 512. It can freely rotate with respect to each other about the extension portion 506 (1) up to a predetermined bending angle reached when it comes into contact with each other.

The outer edges 514 and 512 result from a cut into the cylindrical element 500, such as a laser cutting process or a water cutting process. All adjacent hinge portions 502 (n), 502 (n + 1) have an open space between them, such as a space defined between the portion 504 and the hinge portion 502 (1), this space. The result of a cutting process, such as a laser cutting process or a water cutting process. These spaces are alternately rotated by 90 ° when viewed in the tangential direction of the cylindrical element 500.

[0090] The hinge portion 502 (1) has an additional outer edge portion 515 facing the outer edge portion 517 of the hinge portion 502 (2). The outer edge portion 515 is provided with two circular notches 505 (2) (one visible in FIG. 5a) arranged 180 ° opposite to each other when viewed tangentially to the cylindrical element 500. Each circular notch 505 (2) accommodates a circular extension 506 (2) of the hinge portion 502 (2). Each combination of the notch 505 (2) and the extension portion 506 (2) is located at a position rotated by 90 ° with respect to the combination of the notch 505 (1) and the extension portion 506 (1). Similar to the combination of the notch 505 (1) and the extension 506 (1), the combination of the notch 505 (2) and the extension 506 (2) is, in one example, a cylindrical element, for example by laser cutting or water cutting. It is made by cutting a circular slot into 500. Any other cutting technique may be used instead. In one example, the cutting process is performed such that the slot is interrupted by a small bridge 510 (2) similar to the bridge 510 (1), so that the extension 506 (2) and the notch 505 (2) are still Attached to each other. These bridges also act as "breaking elements" as described above.

[0091] Since the continuous pair of rotatable sections 507 (n), 507 (n + 1) is rotated about 90 ° with respect to each other when viewed in the tangential direction of the cylindrical element 500, the hinge portion 502 (n). -1) and the hinge portion 502 (n) can rotate in a first direction with respect to each other, and this first direction is the second of rotation of the hinge portion 502 (n) with respect to the hinge portion 502 (n + 1). It is perpendicular to the direction of 2. As shown, the directions of rotation between the continuous hinge portions alternate between the first direction and the second direction so that the hinge 501 is flexible in all directions.

[0092] In one example, each notch 505 (n) is by a bridge similar to or identical to bridge 510 (1) when a slot is created between the notch 505 (n) and the extension 506 (n). It is still attached to the accommodating extension 506 (n). Thus, in such an example, after the cylindrical element structure 500 of FIG. 5a is made, all adjacent portions and hinge portions are still attached to each other and the structure does not fall apart into separate parts. Therefore, when the preparation is complete, the cylindrical element structure 500 of FIG. 5a can be inserted into the cylindrical element structure 520 shown in FIG. 5b as an integrated unit. The cylindrical element 520 can also be made as an integral element in which all various parts and hinge parts are still attached to each other by breaking elements before the entire hinge structure is used for bending motion.

[0093] FIG. 5b shows in detail the cylindrical element 520.

[0094] FIG. 5b shows a cylindrical element 520 with a hinge 521 made as a slotted structure. The cylindrical element 520 comprises a portion 524 and an additional portion 529 on the opposite side of the portion 524. A hinge 521 is located between them.

[0095] The hinge 521 comprises a plurality of hinge portions 522 (1), 522 (2), ... 522 (n), ..., 522 (N) (N is an integer greater than 1). In the illustrated example, each hinge portion 522 (n) has the same shape, but is not necessarily the case. Each of the illustrated hinge portions 522 (n) is a rigid ring shaped portion of the cylindrical element 520.

[0096] The portion 524 and the hinge portion 522 (1) are arranged so as to be rotatable with respect to each other by two rotatable sections 530 (1) (only one is visible in FIG. 5b). The rotatable sections 530 (1) rotate 180 ° with respect to each other when viewed tangentially to the cylindrical element 521. One such rotatable section 530, represented by the dotted circle Vd in FIG. 5b, is shown in detail in FIG. 5d. Similar to the rotatable section 507 (1) of the cylindrical element 500 described above, the line connecting the two rotatable sections 530 (1) intersects the central axis 520c of the hinge 521 at right angles. Therefore, the portion 524 and the hinge portion 522 (1) are rotatable about this line.

[0097] As shown in FIG. 5d, the rotatable section 530 (1) comprises an extension 548 (1) provided with a circular outer edge. This extension 548 (1) may also be referred to as a first rotating section portion. The circular extension portion 548 (1) is housed in the circular notch 550 (1) of the hinge portion 522 (1). The circular notch may also be referred to as a second rotating portion, or may form part of a second rotating section portion, where the second rotating section portion is the region of the hinge portion 522 (1) facing the portion 524. including. The radius of the circular extension portion 548 (1) and the radius of the circular notch 550 (1) are the same. They have the same center of rotation. The circular extension 548 (1) and the circular notch 550 (1) are separated by a small slot made by a cutting operation, such as a laser or water cutting process, or any other suitable cutting technique. During the fabrication of the slot, the slot is interrupted in place so that the extension 548 (1) and the notch 550 (1) are still attached to each other by one or more small bridges 552 (1). These bridges 552 (1) operate as the "breaking element" defined above. That is, they break when a force above a certain threshold is applied. Here, they are designed to break when the portion 524 and the hinge portion 522 (1) are rotated relative to each other about the two extensions 548 (1) with at least such a threshold force. The threshold force is selected so that the bridge 552 (1) is broken before either the portion 524 or the hinge portion 522 (1) is deformed beyond its maximum elasticity by the applied rotational force. As described below, they are only damaged later in the manufacturing process.

[0098] The extension portion 548 (1) is provided with a circular slot 542 (1) centered on the center of rotation thereof. The radius of slot 542 (1) is smaller than the radius of the circular extension 548 (1) itself. A circular island 556 (1) remains inside the slot 542 (1). As will be apparent herein, this island 556 (1) forms an element that can also be called a pin or rotatable disc in the hinge. Thus, in the context of the invention, a pin is defined as an element that is inserted into the opening of another element, which can rotate about that pin. During the manufacture of slot 542 (1), slot 542 (1) is interrupted by a small bridge 540 (1) so that the circular island 556 (1) is still attached to the rest of the extension 548 (1). .. These bridges 540 (1) act as the "breaking elements" defined above. That is, they break when a force above a certain threshold is applied. Here, they are designed to break when the circular island 556 (1) and the extension 548 (1) are rotated relative to each other with at least such a threshold force. The threshold force is such that the bridge 540 (1) is damaged before either the extension 548 (1) or the circular island 556 (1) is deformed beyond its maximum elasticity by the applied rotational force. Be selected. As described below, they are only damaged later in the manufacturing process.

Reference number 544 (1) refers to the mounting structure within the circular island 556 (1). The mounting structure 544 (1) is arranged so that after the cylindrical element 500 is inserted into the cylindrical element 520, the circular island 556 (1) can be attached to the circular extension portion 506 (1) of the cylindrical element 500. ing. Such attachment can be done by any suitable attachment technique, including gluing, soldering, welding, and laser welding. To assist laser welding, the mounting structure 544 (1) can be formed, for example, as an S-shaped small slotted structure made by laser cutting or water cutting.

[00100] The hinge portion 522 (1) may be provided with one or more lips 554 (1) (one is shown in FIGS. 5b and 5d). Such a lip 554 (1) may be located adjacent to the rotatable section 530 (1) at substantially the same tangential position as the circular island 556 (1). After inserting the cylindrical element 500 into the cylindrical element 520, the lip 554 (1) inserts the hinge portion 522 (1) of the cylindrical tube 520 into the hinge portion 502 of the cylindrical element 500 by, for example, welding or laser welding. Used to attach to 1).

[00101] Referring again to FIG. 5b, the hinge portion 522 (1) and the hinge portion 522 (2) are centered on two rotatable sections 530 (2) (only one is shown in FIG. 5b). Arranged so that they can rotate with respect to each other, these two rotatable sections 530 (2) are positioned to rotate 180 ° with respect to each other when viewed tangentially to the cylindrical element 520. The structure of the rotatable section 530 (2) is preferably the same as that of the rotatable section 530 (1). Therefore, the rotatable section 530 (2) preferably has the same elements as the rotatable section 530 (1) shown in FIG. 5d, where all indices (1) are replaced by (2). The rotatable section 530 (2) is located at a position rotated 90 ° with respect to the position of the rotatable section 530 (1) when viewed tangentially to the cylindrical element 520.

[00102] In more general terms, the rotation mechanism between the two adjacent hinge portions 522 (n) and 522 (n + 1) is as follows. The hinge portion 522 (n) and the hinge portion 522 (n + 1) are arranged so as to be rotatable with respect to each other about the two rotatable sections 530 (n + 1), and these two rotatable sections 530 (n). n + 1) is located rotated 180 ° with respect to each other when viewed in the tangential direction of the cylindrical element 520. The structure of the rotatable section 530 (n + 1) is preferably the same as that of the rotatable section 530 (1). Therefore, the rotatable section 530 (n + 1) has the same elements as the rotatable section 530 (1) shown in FIG. 5d, where all indices (1) are replaced by (n + 1). The rotatable section 530 (n + 1) is located at a position rotated 90 ° with respect to the positions of the rotatable sections 530 (n) and 530 (n + 2) when viewed tangentially to the cylindrical element 520. Also, the rotatable sections 530 (n) and 530 (n + 2) are preferably the same as the rotatable sections 530 (1).

[00103] The portion 524 is provided with an outer edge portion 526 facing the outer edge portion 528 of the hinge portion 522 (1). The outer edge portion 526 and the outer edge portion 528 define an open space between them, so that once the bridge 552 (1) is damaged, the portion 524 and the hinge portion 522 (1) have the outer edge portions 526 and 528. It can rotate freely with respect to each other about the extension portion 548 (1) up to a predetermined bending angle reached when it comes into contact with each other.

[00104] The outer edges 526 and 528 result from cutting a predetermined pattern into the cylindrical element 520, for example laser cutting or water cutting. All adjacent hinge portions 522 (n), 522 (n + 1) have an open space between them, such as a space defined between the portion 524 and the hinge portion 522 (1), this space. The result of a cutting process, such as a laser cutting process or a water cutting process. These spaces are alternately rotated by 90 ° in the tangential direction of the cylindrical element 520.

[00105] Since the continuous rotatable sections 530 (n) and 530 (n + 1) are rotated about 90 ° with respect to each other when viewed in the tangential direction of the cylindrical element 520, the hinge portion 522 (n-1). ) And the hinge portion 522 (n) rotate in a first direction with respect to each other, and this first direction is perpendicular to the second direction of rotation of the hinge portion 522 (n) with respect to the hinge portion 522 (n + 1). Is. As shown, the directions of rotation between the continuous hinge portions alternate between the first direction and the second direction so that the hinge 521 is flexible in all directions.

[00106] In one example, each notch 550 (n) becomes an extension 548 (n) by a bridge 552 (n) when a slot is created between the notch 550 (n) and the extension 548 (n). It is still installed. Therefore, after the cylindrical element structure 520 of FIG. 5b is made, in such an example, all the various parts are still attached to each other and the structure does not fall apart into separate parts. Further, after making the cylindrical element 520, all circular islands 556 (n) are also still attached to the surrounding circular extension 548 (n) by the bridge 540 (n). Therefore, when ready, the cylindrical element structure 520 of FIG. 5b is still an integral unit when the cylindrical element 500 is ready to be inserted into the cylindrical element structure 520. Further, prior to being inserted into each other, both cylindrical elements 500, 520 still have a linear structure with all bridges 510 (n), 552 (n), with the two cylindrical elements 500, 520. The operation of inserting each other becomes easy.

[00107] The bridges 552 (1) and 540 (1) are designed as the "breaking elements" described above herein. That is, they break when a predetermined force is applied that is less than the force required to deform the surrounding material beyond its maximum elasticity.

[00108] FIG. 5c shows the resulting hinge structure when the cylindrical elements 500 and 520 are inserted into each other. As shown, in the assembled state, the cylindrical elements 500 and 520 align each rotatable section 530 (n) of the cylindrical element 520 with one rotatable section 507 (n) of the cylindrical element 500. They are aligned with each other both longitudinally and tangentially so that they are. After inserting the cylindrical element 500 into the cylindrical element 520 to complete the assembly, each mounting structure 544 (n) has one circular extension 506 (eg, by gluing, soldering, welding, or laser welding). It is attached to n). Optionally, one or more hinge portions 522 (n) may also be hinged portion 502, for example, by gluing, soldering, welding, or laser welding the lip 554 (n) to the hinge portion 502 (n). It is attached to (n). This latter action gives greater rigidity to the entire hinge structure.

[00109] The portion 529 can be attached to the portion 509 in a similar manner, eg, by gluing, soldering, welding, or laser welding the lip 534 to the portion 509, or by any other suitable method. can. Similarly, portions 504 and 524 can be attached to each other.

[00110] After attaching the cylindrical elements 500 and 520 to each other in this way, the user can apply a rotational force in the direction indicated by the double-headed arrow 503 in FIG. 5a. When the rotational force exceeds a certain threshold, all breaking elements 510 (n), 540 (n), and 552 (n) are damaged. As a result, the portion 504/524 can freely rotate about the pin 556 (1) with respect to the adjacent hinge portion 502 (1) / 522 (1), and the hinge portion 502 (n) / 522 ( n) can freely rotate about the pin 556 (n + 1) with respect to the adjacent hinge portion 502 (n + 1) / 522 (n + 1). Similarly, the portion 509/529 can rotate freely with respect to the hinge portion 502 (N) / 522 (N).

[00111] Further, each circular island 556 (n) is firmly attached to the circular extension 506 (n) in the cylindrical element 500, and the circular extension 506 within the extension 548 (n) of the cylindrical element 520. It can rotate freely with (n). With this structure, the circular island 556 (n) acts as a pin or spindle with two functions. First, it acts as a rotating pin that is the center of rotation of the extension 548 (n). Second, since the slot between the pin 556 (n) and the extension 548 (n) can be made very narrow, the pin 556 (n) is the hinge portion 502 (n) / 522 (n) and It acts to keep adjacent hinge portions 502 (n + 1) / 522 (n + 1) in well-defined positions relative to each other with little play between them. The same applies to the position of the portion 504/524 with respect to the hinge portion 502 (1) / 522 (1) and the position of the hinge portion 502 (N) / 522 (N) with respect to the portion 509/529.

[00112] FIG. 6 shows a schematic cross-sectional view of an extension 506 (n) of the cylindrical element 500 and how such an extension 506 (n) is attached to the pin 556 (n). The pin 556 (n) is rotatably located in the hole of the extension 548 (n) in the cylindrical element 520 defined by the slot 542 (n). The pin 556 (n) is attached to the extension portion 506 (n), for example, by (laser) welding the attachment structure 544 (n) to the extension portion 506 (n). Since the structure is rotationally symmetric, the cylindrical element 500 has two such pins 556 (n) on either side of its axis of symmetry 500c (thus, at a position rotated 180 ° tangentially). Both are housed in holes defined by slot 542 (n) in the extension 548 (1) of the cylindrical element 520. This provides a robust structure in which adjacent portions of the hinge structure are connected to each other but can rotate freely with respect to each other. Adjacent hinge portions 502 (n) / 522 (n) and 502 (n + 1) / 522 (n + 1) are no longer attached to each other by any portion of the material of either the cylindrical element 500 or the cylindrical element 520. Also note that it is not. Therefore, there is no elastic deformation of the material that would generate a reverse rotational force during rotation.

[00113] FIG. 7 shows that the pin 556 (n) can be further attached to the extension 848 (n) of the cylindrical element 820 surrounding the cylindrical element 520, as shown in FIGS. 8a and 8b. This can be done by gluing, soldering, welding, or laser welding the extension 848 (n) to the pin 556 (n) with the mounting structure 844 (n).

[00114] FIG. 8a shows the cylindrical element 820 in more detail.

[00115] FIG. 8a shows a cylindrical element 820 with a hinge 821 made as a slotted structure. The cylindrical element 820 comprises a portion 824 and an additional portion 829 on the opposite side of the portion 824. A hinge 821 is located between them.

[00116] The hinge 821 comprises a plurality of hinge portions 822 (1), 822 (2), ... 822 (n), ..., 822 (N) (N is an integer greater than 1). In the illustrated example, each hinge portion 822 (n) has the same shape, but is not necessarily the case. Each of the illustrated hinge portions 822 (n) is a rigid ring shaped portion of the cylindrical element 820.

[00117] The portion 824 and the hinge portion 822 (1) are arranged so as to be rotatable relative to each other by two rotatable sections 830 (1) (only one visible in FIG. 8b). The rotatable sections 830 (1) are located 180 ° rotated relative to each other when viewed tangentially to the cylindrical element 821. One such rotatable section 830 (1) is shown in detail in FIG. 8c, as shown by the dotted circle Vd in FIG. 8b. The line connecting both rotatable sections 830 (1) intersects the central axis of the hinge 821. Therefore, the portion 824 and the hinge portion 822 (1) are rotatable about this line.

[00118] As shown in FIG. 8c, the rotatable section 830 (1) comprises an extension 848 (1) provided with a circular outer edge. The circular extension portion 848 (1) is housed in the circular notch 850 (1) of the hinge portion 822 (1). The radius of the circular extension 848 (1) and the radius of the circular notch 850 (1) are the same. They have the same center of rotation. The circular extension 848 (1) and the circular notch 850 (1) are separated by a small slot made by a cutting operation, such as a laser or water cutting process, or any other suitable cutting technique. During the fabrication of the slot, the slot is interrupted in place so that the extension 848 (1) and the notch 850 (1) are still attached to each other by one or more small bridges 852 (1). These bridges 852 (1) act as the "breaking elements" defined above. That is, they break when a force above a certain threshold is applied. Here, they are designed to break when the portion 824 and the hinge portion 822 (1) are rotated relative to each other about the two extensions 848 (1) with at least such a threshold force. The threshold force is selected so that the bridge 852 (1) is broken before either the portion 824 or the hinge portion 822 (1) is deformed beyond its maximum elasticity by the applied rotational force. As described below, they are only damaged later in the manufacturing process.

[00119] Reference number 844 (1) refers to the mounting structure within the circular extension 848 (1). The mounting structure 844 (1) is arranged so that after the cylindrical element 520 is inserted into the cylindrical element 820, the circular extension 848 (1) can be attached to the pin 556 (1) of the cylindrical element 520. There is. Such attachment can be done by any suitable attachment technique, including gluing, soldering, welding, and laser welding. To assist laser welding, the mounting structure 844 (1) can be formed, for example, as an S-shaped small slotted structure made by laser cutting or water cutting.

[00120] The hinge portion 822 (1) may be provided with one or more lips 854 (1) (one is shown in FIGS. 8b and 8c). Such a lip 854 (1) may be located adjacent to the lip 554 (1) of the cylindrical element 520 (see FIG. 5d). After inserting the cylindrical element 520 into the cylindrical element 820, the lip 854 (1) inserts the hinge portion 822 (1) of the cylindrical tube 820 into the hinge portion 522 of the cylindrical element 520 (for example, by welding or laser welding). Used to attach to 1). By doing so, the hinge portions 502 (1), 522 (1), and 822 (1) are firmly attached to each other.

[00121] The extension 506 (1) of the cylindrical element 500 is oriented in the same longitudinal direction as the extension 848 (1) of the cylindrical element 820, but both of these extensions are the cylindrical element 520. Note that it is oriented in the longitudinal direction opposite to the extension of 548 (1). Therefore, the extension portion 548 (1) can rotate between the extension portions 506 (1) and 848 (1) about the pin 556 (1), and the pin 556 (1) is at one end. It is attached to the extension 506 (1) at the portion and attached to the extension 848 (1) at the opposite end.

[00122] Referring again to FIG. 8a, the hinge portion 822 (1) and the hinge portion 822 (2) are centered on two rotatable sections 830 (2) (only one is shown in FIG. 8a). Arranged so that they can rotate with respect to each other, these two rotatable sections 830 (2) are positioned to rotate 180 ° with respect to each other when viewed tangentially to the cylindrical element 820. The structure of the rotatable section 830 (2) is preferably the same as that of the rotatable section 830 (1). Therefore, the rotatable section 830 (2) preferably has the same elements as the rotatable section 830 (1) shown in FIG. 8c, where all indices (1) are replaced by (2). The rotatable section 830 (2) is located at a position rotated 90 ° with respect to the position of the rotatable section 830 (1) when viewed tangentially to the cylindrical element 820.

[00123] In more general terms, the rotation mechanism between the two adjacent hinge portions 822 (n) and 822 (n + 1) is as follows. The hinge portion 822 (n) and the hinge portion 822 (n + 1) are arranged so as to be rotatable with respect to each other about the two rotatable sections 830 (n + 1), and these two rotatable sections 830 (n + 1). n + 1) is positioned so as to rotate 180 ° with respect to each other when viewed in the tangential direction of the cylindrical element 820. The structure of the rotatable section 830 (n + 1) is preferably the same as that of the rotatable section 830 (1). Therefore, the rotatable section 830 (n + 1) has the same elements as the rotatable section 830 (1) shown in FIG. 8c, where all indices (1) are replaced by (n + 1). The rotatable section 830 (n + 1) is located at a position rotated 90 ° with respect to the positions of the rotatable sections 830 (n) and 830 (n + 2) when viewed tangentially to the cylindrical element 820. Also, the rotatable sections 830 (n) and 830 (n + 2) are preferably the same as the rotatable sections 830 (1).

[00124] The portion 824 is provided with an outer edge portion 826 facing the outer edge portion 828 of the hinge portion 822 (1). The outer edge 826 and the outer edge 828 define an open space between them, so once the bridge 852 (1) is broken, the portions 824 and the hinge portion 822 (1) will have the outer edges 828 and 828. It can rotate freely with respect to each other around the extension 848 (1) up to a predetermined bending angle reached when it comes into contact with each other.

[00125] The outer edges 826 and 828 result from cutting a predetermined pattern into the cylindrical element 820, for example laser cutting or water cutting. All adjacent hinge portions 822 (n), 822 (n + 1) have an open space between them, such as a space defined between the portion 824 and the hinge portion 822 (1), which space. The result of a cutting process, such as a laser cutting process or a water cutting process. These spaces are alternately rotated by 90 ° in the tangential direction of the cylindrical element 820.

[00126] Since the continuous rotatable sections 830 (n) and 830 (n + 1) rotate about 90 ° with respect to each other when viewed tangentially to the cylindrical element 820, the hinge portion 822 (n-1). ) And the hinge portion 822 (n) rotate in a first direction with respect to each other, and this first direction is perpendicular to the second direction of rotation of the hinge portion 822 (n) with respect to the hinge portion 822 (n + 2). Is. As shown, the directions of rotation between the continuous hinge portions alternate between the first direction and the second direction so that the hinge 821 is flexible in all directions.

[00127] In one example, each notch 850 (n) becomes an extension 848 (n) by a bridge 852 (n) when a slot is created between the notch 850 (n) and the extension 848 (n). It is still installed. Therefore, after the cylindrical element structure 820 of FIG. 8b is made, in such an example, all the various parts are still attached to each other and the structure does not fall apart into separate parts. Therefore, when ready, the cylindrical element structure 820 of FIG. 8a is still an integral unit when the cylindrical element 520 is ready to be inserted into the cylindrical element structure 820. Further, prior to being inserted into each other, both cylindrical elements 520, 820 still have a linear structure with all bridges 552 (n), 852 (n), with the two cylindrical elements 520, 820. The operation of inserting each other becomes easy.

[00128] The bridges 852 (1) and 840 (1) are designed as "breaking elements" as defined above herein. That is, they break when a predetermined force is applied that is less than the force required to deform the surrounding material beyond its maximum elasticity.

[00129] FIG. 8b shows the resulting hinge structure when the cylindrical elements 500, 520, and 820 are inserted into each other. As shown, in the assembled state, the cylindrical elements 500, 520, 820 are such that each rotatable section 530 (n) of the cylindrical element 520 is one rotatable section 507 (n) of the cylindrical element 500. They are aligned longitudinally and tangentially with each other so that they are aligned with both of one rotatable section 830 (n) of the cylindrical element 820. After inserting the cylindrical element 500 into the cylindrical element 520 to complete the assembly, each pin 556 (n) is, for example, by gluing, soldering, welding, or laser welding, eg, mounting structure 544 (n). ) Attaches to one circular extension 506 (n). Then, after inserting the cylindrical element 520 into the cylindrical element 820 together with the cylindrical element 500, each extension 848 (n) is, for example, by bonding, soldering, welding, or laser welding, for example, a mounting structure 844 ( Attached to pin 556 (n) by n).

[00130] Optionally, one or more hinge portions 822 (n) may also be, for example, by gluing, soldering, welding, and / or laser welding the lip 854 (n) to the lip 554 (n). , Attached to the hinge portion 522 (n). This latter action gives greater rigidity to the entire hinge structure.

[00131] The portion 829 may be attached to the portion 529 in a similar manner, eg, by gluing, soldering, welding, or laser welding the lip 834 to the portion 529, or by any other suitable method. can. Similarly, portions 524 and 824 can be attached to each other.

[00132] After attaching the cylindrical elements 500, 520, and 820 to each other in this way, the user can apply a rotational force in the direction indicated by the double-headed arrow 803 in FIG. 8a. When the rotational force exceeds a certain threshold, all "breaking elements" 510 (n), 540 (n), 552 (n), and 852 (n) are damaged. As a result, the portion 504/524/824 can freely rotate about the pin 556 (1) with respect to the adjacent hinge portion 502 (1) / 522 (1) / 822 (1), and the hinge portion. The 502 (n) / 522 (n) / 822 (n) is free to rotate about the pin 556 (n + 1) with respect to the adjacent hinge portion 502 (n + 1) / 522 (n + 1) / 822 (n + 1). Can be done. Similarly, the portion 509/529/829 can freely rotate with respect to the hinge portion 502 (N) / 522 (N) / 822 (N).

[00133] Further, each circular island 856 (n) is securely attached to a circular extension 548 (n) within the cylindrical element 520 and is free with it within the extension 848 (n) of the cylindrical element 820. Can rotate. With this structure, the circular island 856 (n) acts as a pin or spindle with two functions. First, it acts as a rotating pin that is the center of rotation of the extension 848 (n). Second, since the slot between the pin 856 (n) and the extension 848 (n) can be made very narrow, the pin 856 (n) is the hinge portion 822 (n) / 522 (n) and It acts to keep adjacent hinge portions 822 (n + 1) / 522 (n + 1) in well-defined positions relative to each other with little play between them. The same applies to the position of the portion 824/524 with respect to the hinge portion 822 (1) / 522 (1) and the position of the hinge portion 822 (N) / 522 (N) with respect to the portion 829/529.

[00134] FIGS. 9a, 9b, and 9c are hinge structures of the invention applied to a steerable device having a longitudinal element formed by cutting out a cylindrical element and arranged as a steering strip for the steerable device. An embodiment is shown. Such steerable equipment may be based on any one of the equipment shown with reference to FIGS. 1-4. In the following, the application of the hinge structure of the present invention will be described with reference to a steerable device having a steering strip in one cylindrical element. However, the present invention can be applied to any steerable device having one or more cylindrical elements having a steering strip formed by cutting out a cylindrical element.

[00135] FIG. 9a shows an inner cylindrical element, and FIG. 9b shows an intermediate cylindrical element having such a steering strip with the inner cylindrical element inserted therein. FIG. 9c shows an outer cylindrical element with a set of inner and intermediate cylindrical elements inserted inside.

[00136] FIG. 9a shows an example of the tip of an inner cylindrical element 920 that may be at the distal or proximal end of the device. Although in the present description it is assumed to be located at the distal end, similar constructs may be located at the proximal end. Alternatively, the steering strip may be steered by a ball-shaped member or a motor of a robot steering mechanism. As mentioned above, the tip of the device is steerable. The inner cylindrical element may be made from any suitable material, including any type of plastic or metal that may be perfectly flexible and can be used in a medical environment. The structure of FIG. 9a is just one example of a possible embodiment in which flexibility is provided by the slotted hinge structure 921.

[00137] The hinge structure 921 with a slot is arranged in the proximal end direction from the ring-shaped end portion 924 of the cylindrical element 920. The hinge structure 921 with a slot includes a plurality of hinge portions 922 (1), 922 (2), ..., 922 (n), ..., 922 (N). The end portion 924 is rotatably arranged with respect to the hinge portion 922 (1) and the hinge portion 922 (N) is rotatable with respect to the cylindrical element portion 929 disposed proximally from the hinge structure 921. Arranged as possible.

[00138] The end portion 924 is relative to the hinge portion 922 (1) about two rotating sections 930 (1) located 180 ° rotated relative to each other when viewed tangentially to the cylindrical element 920. Can rotate. That is, the line connecting the two rotating sections 930 (1) intersects the axis of symmetry of the cylindrical element 920. When the end portion 924 rotates with respect to the hinge portion 922 (1), the rotation is centered on this line.

[00139] There are two rotating sections 930 (n + 1) between each of the two adjacent hinge portions 922 (n) and 922 (n + 1), thus they are these two rotating sections 930 (n + 1). ) Can rotate about each other around the line connecting them. In one embodiment, all rotating sections 930 (n) are identical, but not strictly required.

[00140] An example of such a rotating section 930 (n) is provided with reference to the rotating section 930 (2). The rotating section 930 (2) is located between the hinge portions 922 (1) and 922 (2). The second rotating section 930 (2) is located at a position rotated by 180 ° with respect to the position of the rotating section 930 (2). The rotating section 930 (2) comprises a circular extension 948 (2) of the hinge portion 922 (1). The extension portion 948 (2) is housed in the circular notch 950 (2) of the hinge portion 922 (2). The extension 948 (2) and the notch 950 (2) are separated by a slot cut into the cylindrical element 920. For example, while cutting by laser cutting or water cutting to make a slot, the extension 948 (2) and notch 950 (2) are provided by the small bridge 952 (2) acting as the "breaking element" described above. It remains attached to each other. That is, they have a predetermined force that is less than the force required to deform the surrounding materials of the hinge portions 922 (1) and 922 (2) beyond their maximum elasticity and above a certain threshold force. It is designed to break when the 922 (1) and 922 (2) are rotated relative to each other.

[00141] The center point of the extension portion 948 (2) defines a rotation point at which the hinge portions 922 (1) and 922 (2) can rotate when the bridge 952 (2) is damaged.

[00142] The rotating section 930 (2) also comprises two lip elements 960 (2), 962 (2) extending from the hinge portion 922 (2) towards the hinge portion 922 (1). Both lip elements 960 (2) and 962 (2) have a circular shape and are located at a radial distance from the point of rotation, which is greater than the radius of the circular extension 948 (2). The lip element 960 (2) can be moved in a circular direction within the circular slot 964 (2) arranged in the hinge portion 922 (1). The lip element 962 (2) can be moved in a circular direction within the circular slot 966 (2) arranged in the hinge portion 922 (1).

[00143] The lip elements 960 (2), 962 (2), and circular slots 964 (2), 966 (2) cut a predetermined pattern into the cylindrical element 920, as will be apparent to those skilled in the art. It can be formed by, for example, laser cutting or water cutting. During the cutting process, the lip elements 960 (2) and 962 (2) may remain attached to the surrounding material from the hinge portion 922 (1) by a small bridge acting as the "breaking element" described above.

[00144] The lip elements 960 (2) and 962 (2) contain a portion of the hinge portion 922 (1) including the circular extension 948 (2), thereby the hinge portions 922 (1) and 922. (2) cannot easily move with respect to each other in the longitudinal direction of the cylindrical element 920.

[00145] The hinge portion 922 (1) is formed on an edge portion 970 of the hinge portion 922 (2) formed so as to define a predetermined open space between the hinge portions 922 (1) and 922 (2). It has a facing edge 968. The length of this open space and slots 964 (2), 966 (2) determines the angle at which the hinge portions 922 (1) and 922 (2) can rotate with respect to each other.

[00146] When the hinge portions 922 (1) and 922 (2) are rotated with respect to each other in the direction indicated by the double-headed arrow 903 with a predetermined force exceeding a predetermined threshold, the breaking element 952 (2) (and the lip) are rotated. A possible breaking element that attaches the elements 960 (2), 962 (2) to the adjacent material of the hinge portion 922 (1)) is damaged, so that the hinge portions 922 (1) and 922 (2) are already attached to each other. Note that it is no longer used and can rotate freely. However, this is preferably not done before inserting the inner cylindrical element 920 into the intermediate cylindrical element 1000 shown in FIG. 9b.

[00147] Again, the continuous rotating sections 930 (n) and 930 (n + 1) rotate 90 ° tangentially to the cylindrical element 920, giving the hinge structure 921 full flexibility in all directions. give.

[00148] FIG. 9b shows an example of the intermediate cylindrical element 1000. The intermediate cylindrical element 1000 comprises a ring-shaped distal end portion 1002, wherein the distal end portion 1002 is here cut out of the cylindrical element 1000 and, for example, laser cut or water cut to form a longitudinal element. It is attached to a plurality of steering strips 1004 produced by forming the above. Two such steering strips 1004 are sufficient when one-way (and opposite) bendability is desired. However, if bendability in all directions is desired, at least three steering strips 1004 should be applied. In one example, the steering strip 1004 is located equidistantly in the tangential direction. In this example, eight such steering strips 1004 are applied.

[00149] As shown in FIG. 9b, the two adjacent steering strips 1004 are prevented from moving tangentially to each other by the tangential spacers. Two different sets of tangential spacers are shown. The first set comprises a spacer 1028 formed as a longitudinal strip having spacer elements tangentially extending on both sides to the extent that it contacts an adjacent steering strip 1004. These spacer elements have any desired form, ie, a flexible plate-like element, an M-shaped element, an S-shaped element, a pin-shaped element, or any other suitable form known to those of skill in the art. You may. Alternatively, the spacer 1028 is attached directly to one of two adjacent steering strips 1004 and extends to the other of the two adjacent steering strips 1004, as is known from the prior art. , Flexible plate-like elements, M-shaped elements, S-shaped elements, pin-shaped elements, or any other suitable form known to those of skill in the art.

A second set of tangential spacers comprises a plurality of spacer elements 1005 disposed continuously longitudinally between two adjacent steering strips 1004. The first set of spacers 1028 and the second set of spacers 1005 alternate in the tangential direction of the cylindrical element 1000.

[00151] Each spacer element 1005 comprises a plate 1006 separated from an adjacent steering strip 1004 by a slot resulting from a cut into the cylindrical element 1000, eg, a laser cutting process or a water cutting process. During the cutting process, the plate 1006 preferably remains attached to one or both adjacent steering strips 1004 by the breaking element "breaking element" 1012 described herein. The breaking element 1012 breaks when a relative longitudinal force is applied between the steering strip 1004 and the plate 1006 to which the breaking element 1012 is attached and the force exceeds a certain threshold force. It is designed to be. The threshold force should be selected so that the resulting force on the steering strips 1004 and plate 1006 remains below their maximum elasticity.

[00152] In the illustrated embodiment, the plate 1006 is attached to an additional plate 1014 separated from the adjacent steering strip 1004 by a slot created by a cut into the cylindrical element 1000, eg, a laser cutting process or a water cutting process. There is. During the cutting process, the plate 1014 remains attached to one or both adjacent steering strips 1004, preferably by the "breaking element" 1016. The breaking element 1016 breaks when a relative longitudinal force is applied between the steering strip 1004 and the plate 1014 to which the breaking element 1016 is attached and the force exceeds a certain threshold force. It is designed to be. The threshold force should be selected so that the resulting force on the steering strips 1004 and plate 1014 remains below their maximum elasticity.

[00153] In one example, the plates 1006 are attached to the plates 1014 by flexible mounting strips 1018, whereby they are located at a predetermined longitudinal distance from each other. Therefore, the mounting strip 1018 can extend into the plate 1014 (and / or into the plate 1006) by having slots on both sides as shown in FIG. 9b.

[00154] Plate 1014 has an edge 1020 facing the distal end, and plate 1006 has an edge 1022 facing the proximal end. The continuous spacer elements 1005 are located longitudinally apart from each other at predetermined distances determined by the particular required flexibility of the device.

[00155] When the cylindrical elements 920 and 1000 are manufactured, both of them are integral cylindrical elements in which all the various components are still attached to each other by breaking elements, as described above. They are still straight and the cylindrical element 920 can be easily inserted into the cylindrical element 1000. When inserted into each other, they are aligned both longitudinally and tangentially. Then, in one embodiment, the ends 924 and 1002 are attached to each other by, for example, bonding, soldering, welding, laser welding, or the like.

[00156] When inserted into each other, the set of cylindrical elements 920, 1000 is inserted into a cylindrical element that may have the same shape as the cylindrical element 520 described with reference to FIGS. 5b and 5d. .. FIG. 9c shows the (eg, distal) end structure of the device in which this was done. The set of cylindrical elements 920, 1000 is aligned with the cylindrical element 520 both longitudinally and tangentially. This alignment allows each pin 556 (n) located inside the hinge portion 522 (n-1) to be radially aligned and attached to a portion 1008 of the plate 1006. This may be done by mounting structure 544 (n), if present. The attachment can be performed by adhesion, welding, laser welding, or the like. Further, a portion of the hinge portion 522 (n) located longitudinally offset from the pin 556 (n) is attached to the plate 1006 at a portion 1010 also located longitudinally offset from the portion 1008. This portion of the hinge portion 522 (n) can be the lip 554 (n). In this way, each pin 556 (n) located inside the hinge portion 522 (n-1) is hinged portion 522 (n) by one single plate 1006 located itself within the intermediate cylindrical element 1000. ) Can be firmly attached. Further, the plate 1006 also functions as a tangential spacer between adjacent steering strips in the intermediate cylindrical element 1000.

[00157] Preferably, after longitudinal and tangential alignment, the end portion 524 is attached to the end portion 1002.

[00158] After all three cylindrical elements 920, 1000, 520 are inserted into each other as described above, aligned longitudinally and tangentially as desired, and attached to each other, the user is separate. A rotational force 903 (see Figure 9a) is applied in all directions with a force that breaks all breaking elements that still keep the components attached to each other but does not allow the surrounding material to receive a force that exceeds their maximum elasticity. This allows the device to be bent. All rotating sections within the inner cylindrical element 920 and the outer cylindrical element 520 are then free to rotate. Then, since some of the components are elastically bent, only the reaction force against any bending is generated in the intermediate cylindrical element 1000.

[00159] Naturally, the equipment of FIGS. 9a, 9b, 9c is applied with additional outer cylindrical elements such as the cylindrical element 820 (FIG. 8a) to provide higher rigidity to the entire structure. be able to.

[00160] The embodiments of FIGS. 9a, 9b, and 9c show that the plate 1006 is inside the rotating section 530 (n), whereas the cylindrical elements 1000 and 520 have a cylindrical element 520. It may be inserted into the cylindrical element 1000 and designed so that the plate 1006 is located outside the rotating section 530 (n).

[00161] FIGS. 10a and 10b show an embodiment of the hinge structure of the present invention applied to a steerable device having a steering cable or wire acting as a steering element of the steerable device. Such steerable equipment may be based on any steerable equipment provided with steering cables known from the prior art. For example, such steerable equipment may be based on any one of the embodiments described in Non-Previous PCT / NL2019 / 0506850.

[00162] FIG. 10a shows an intermediate cylindrical element 1000a provided with a steering cable 1004a and assembled coaxially with the inner cylindrical element 920 shown in FIG. 9a. FIG. 10b shows the inner cylindrical element 920 and the intermediate cylindrical element 1000a assembled with the outer cylindrical element 520a and aligned longitudinally and tangentially. Note that the outer cylindrical element 520a may be identical to the outer cylindrical element 520 shown in FIG. 9c.

[00163] FIG. 10a shows an example of an intermediate cylindrical element 1000a that is substantially similar to the intermediate cylindrical element 1000 of FIG. 9b but includes a steering cable 1004a instead of the steering strip 1004. In FIG. 10a, the element corresponding to the element of FIG. 9b is indicated by the corresponding reference number given the suffix "a". These features are advantageously similar to the corresponding features described with reference to FIG. 9b and, as those of skill in the art will understand, facilitate the use of steering cable 1004a instead of steering strip 1004, where applicable. Please understand that it may be modified to do so. Therefore, the description of the various features will not be repeated herein.

[00164] The intermediate cylindrical element 1000a comprises a ring-shaped distal end portion 1002a attached to a plurality of steering cables 1004a. Two such steering cables 1004a are sufficient when unidirectional (and opposite) bendability is desired. However, if bendability in all directions is desired, at least three steering cables 1004a should be applied. In one example, the steering cable 1004a is located equidistantly in the tangential direction.

[00165] As shown in FIG. 10a, the two adjacent steering cables 1004a are prevented from moving tangentially to each other by the tangential spacers. Two different sets of tangential spacers are shown. The first set comprises a spacer 1028a formed as a longitudinal strip having spacer elements tangentially extending on both sides to the extent that it contacts an adjacent steering cable 1004a.

[00166] A second set of tangential spacers comprises a plurality of spacer elements 1005a disposed continuously in the longitudinal direction between two adjacent steering cables 1004a. The first set of spacers 1028a and the second set of spacers 1005a alternate in the tangential direction of the cylindrical element 1000a.

[00167] Each spacer element 1005a comprises a plate 1006a separated from the adjacent steering cable 1004a by a slot.

[00168] In the illustrated embodiment, the plate 1006a is attached to an additional plate 1014a separated from the adjacent steering cable 1004a by a slot.

[00169] In one example, the plates 1006a are attached to the plate 1014a by flexible mounting strips 1018a, whereby they are located at a predetermined longitudinal distance from each other.

[00170] When the cylindrical elements 920 and 1000a are manufactured, both of them are integral cylindrical elements in which all the various components are still attached to each other by the breaking elements, as described above. They are still straight and the cylindrical element 920 can be easily inserted into the cylindrical element 1000a. When inserted into each other, they are aligned both longitudinally and tangentially. Then, in one embodiment, the ends 924 and 1002a are attached to each other by, for example, bonding, soldering, welding, laser welding, or the like.

[00171] When inserted into each other, the set of cylindrical elements 920, 1000a is inserted into a cylindrical element that may have the same shape as the cylindrical element 520 described with reference to FIGS. 5b and 5d. .. FIG. 10b shows the (eg, distal) end structure of the device in which this was done. The set of cylindrical elements 920, 1000a is aligned with the cylindrical element 520 both longitudinally and tangentially. This alignment allows each pin 556 (n) located inside the hinge portion 522 (n-1) to be radially aligned and attached to a portion 1008a of the plate 1006a. This may be done by mounting structure 544 (n), if present. The attachment can be performed by adhesion, welding, laser welding, or the like. Further, a portion of the hinge portion 522 (n) located longitudinally offset from the pin 556 (n) is attached to the plate 1006a at the portion 1010a also located longitudinally offset from the portion 1008a. This portion of the hinge portion 522 (n) can be the lip 554 (n). In this way, each pin 556 (n) located inside the hinge portion 522 (n-1) is hinged portion 522 (n) by one single plate 1006 located itself within the intermediate cylindrical element 1000a. ) Can be firmly attached. Further, the plate 1006a also functions as a tangential spacer between adjacent steering cables in the intermediate cylindrical element 1000a.

[00172] Preferably, after longitudinal and tangential alignment, the end portion 524 is attached to the end portion 1002a.

[00173] After all three cylindrical elements 920, 1000a, 520 are inserted into each other, aligned longitudinally and tangentially as desired, and attached to each other, the user is separate. A rotational force 903 (see Figure 9a) is applied in all directions with a force that breaks all breaking elements that still keep the components attached to each other but does not allow the surrounding material to receive a force that exceeds their maximum elasticity. This allows the device to be bent. All rotating sections within the inner cylindrical element 920 and the outer cylindrical element 520 are then free to rotate. Then, since some of the components are elastically bent, a reaction force against any bending is generated only in the intermediate cylindrical element 1000a.

[00174] Naturally, the equipment of FIGS. 10a and 10b can be applied with additional outer cylindrical elements such as the cylindrical element 820 (FIG. 8a) to provide higher rigidity to the entire structure. ..

[00175] The embodiments of FIGS. 10a and 10b show that the plate 1006a is inside the rotating section 530 (n), whereas the cylindrical elements 1000a and 520 have the cylindrical element 520 as the cylindrical element 1000a. The plate 1006a may be designed to be located outside the rotating section 530 (n).

[00176] The present invention is not limited to the embodiments described above. In the above-described embodiment, the adjacent hinge portions 522 (n) and 522 (n + 1) of the cylindrical hinge 521 are provided with two holes located on one of them, which are located on opposite sides of each other in the tangential direction. Because it is, it can rotate with respect to each other. Each hole has a pin 556 (n) attached to the element 506 (n), 1006 inside the cylindrical hinge 521 and / or attached to the element 848 (n) outside the cylindrical element 521. It is housed. The element 506 (n), 1006, or 848 (n) is also attached to a portion of the other hinge portion. Thus, the pins stay inside their corresponding holes and the adjacent hinge portions stay at a well-defined distance from each other. They can rotate freely with respect to each other about pin 556 (n).

[00177] However, the pin itself does not have to be a center of rotation, as described with reference to FIG.

[00178] FIG. 11 shows an alternative form of the outer cylindrical element 520. FIG. 11 shows a cylindrical element 1000 inserted into the cylindrical element 1100. Inside the cylindrical element 1000 may be any other suitable flexible cylindrical element described above with reference to the cylindrical element 920. Again, there may be more cylindrical elements with steering strips to control the bending of the deflectable section of the device. Alternatively, instead of the cylindrical element 1000, the cylindrical element 1000a may be inserted into the cylindrical element 1100 in a manner similar to that described below herein with reference to the cylindrical element 1000. ..

[00179] Cylindrical element 1100 has an end portion 1124 that can be located at the distal end of the device. However, it may be alternative to the proximal end. Adjacent to the end portion 1124, the cylindrical element 1100 is a plurality of hinge portions 1122 (1), 1122 (2), ..., 1122 (n), ..., 1122 of the (cylindrical) hinge 1121. (N) is provided. The end portion 1124 is rotatable with respect to the hinge portion 1122 (1), and similarly, the end portion 1129 is rotatable with respect to the hinge portion 1122 (N).

[00180] Each hinge portion 1122 (n-1) is rotatable relative to the adjacent hinge portion 1122 (n) by two rotatable sections 1130 (n). The end portion 1124 is rotatable relative to the adjacent hinge portion 1122 (1) by two rotatable sections 1130 (1). The hinge portion 1122 (N) is rotatable relative to the end portion 1129 by two rotatable sections 1130 (N + 1). Each of the two rotating sections 1130 (n) is located 180 ° rotated relative to each other when viewed tangentially.

[00181] Rotational sections 1130 (1) are shown in more detail. However, all other rotating sections 1130 (n) are preferably formed in the same way.

[00182] The end portion 1124 has an outer edge portion 1126 facing the outer edge portion 1128 of the hinge portion 1122 (1). The outer edges 1126 and 1128 are designed to define an open space between the end portion 1124 and the hinge portion 1122 (1). The edges 1126 and 1128 contact each other only at two predetermined positions 1160 (1). During manufacturing, these open spaces can be formed by cutting a predetermined pattern into the cylindrical element 1100, for example by laser cutting or water cutting. A breaking element is applied at position 1160 (1) to keep the end portion 1124 and the hinge portion 1122 (1) still attached to each other unless the cylindrical element 1000 has yet been inserted into the cylindrical element 1100. obtain. Position 1160 (1) is the center of rotation.

[00183] The hinge portion 1122 (1) is provided with a pin 1156 (1) that can be moved inside the slot 1158 (1) in the hinge portion 1122 (1). Slot 1158 (1) is made by cutting into the hinge portion 1122 (1), eg, by laser cutting or water cutting, and at the same time forming pin 1156 (1). Therefore, the pin 1156 (1) is a disk resulting from a notch in the hinge portion 1122 (1). Slot 1158 (1) has a circular shape positioned in an arc of a circle having a center at the same position as the center of rotation 1160 (1).

[00184] When the cylindrical element 1100 is ready, the cylindrical element 1000 is inserted into the cylindrical element 1100 and properly aligned both longitudinally and tangentially. In this embodiment, the cylindrical element 1000 is different from FIG. 9c, which comprises a spacer element 1005 under all rotation sections 1130 (n) and shows a slightly different spacer structure under rotation center 1130 (1). Please note. In the embodiment of FIG. 11, the plate 1014 of the spacer element 1005 under the rotating section 1130 (1) can be part of the end portion 1002. The center of rotation 1160 (1) is aligned so that it is radially aligned with the flexible portion of the mounting strip 1018 between the plate 1014 and the plate 1006. The pin 1156 (1) is attached to the plate 1006 by, for example, bonding, welding, laser welding, or the like. Further, a portion of the end portion 1124 adjacent to the center of rotation 1160 (1) is attached to the plate 1014 by, for example, bonding, welding, laser welding or the like. This portion of the end portion 1124 may be a lip 1154 (1) cut into the end portion 1124. In this way, the pin 1156 (1) is attached to the end portion 1124 but is properly held in place within the slot 1158 (1). The mounting strip 1018 prevents longitudinal displacement between the end portion 1124 and the hinge portion 1122 (1). Since the center of rotation 1160 (1) is located above the flexible portion of the mounting strip 1018 when viewed in the radial direction, the end portion 1124 and the hinge portion 1122 (1) reference the center of rotation 1160 (1). Can rotate relative to each other as a center.

[00185] The end portion 1124 is preferably attached to the end portion 1002, for example by welding, gluing, or laser welding.

[00186] The two rotating sections 1130 (n) between the adjacent hinge portions 1122 (n-1) and 1122 (n) preferably have the same design as the rotating sections 1130 (1). The center of rotation 1160 (n) is aligned so that it is radially aligned with the flexible portion of the mounting strip 1018 between the plate 1014 and the plate 1006. The pin 1156 (n) is attached to the plate 1006 by, for example, bonding, welding, laser welding, or the like. Further, a portion of the hinge portion 1122 (n-1) adjacent to the center of rotation 1160 (n) is attached to the plate 1014 by, for example, bonding, welding, laser welding or the like. This portion of the hinge portion 1122 (n-1) can be a lip cut into the hinge portion 1122 (n-1). In this way, the pin 1156 (n) is attached to the hinge portion 1122 (n-1) but is properly held in place in the slot 1158 (n). The mounting strip 1018 prevents longitudinal displacement between the hinge portion 1122 (n-1) and the hinge portion 1122 (n). Since the center of rotation 1160 (n) is located above the flexible portion of the mounting strip 1018 when viewed in the radial direction, the hinge portion 1122 (n-1) and the hinge portion 1122 (n) are centered on rotation 1160. It can rotate with respect to each other around (n).

[00187] The pin 556 (n) is attached to the attachment member, ie extension 506 (n) and extension 848 (n), by gluing, soldering, welding, or laser welding in the above embodiments herein. Described as having a substantially flat disk shape that can be. However, in an alternative embodiment, the pin 556 (n) may be formed by an elongated structure with or provided with protrusions and / or with radial extensions, thereby. The pin 556 (n) may be attached to the mounting member, ie extension 506 (n), by mechanical connection such as snap fit or shape fitting or the like so that the pin is rotationally fastened to the mounting member. Please understand what you can do. For example, the mounting member may be provided with a mounting member opening through which a pin protrusion or elongated structure can be inserted and fixed, for example, the protrusion or elongated structure may have a mounting member opening. It is done by having a diameter equal to or slightly larger than the portion. The pin may be fastened to the extension 848 (n) or plate 1006 in a similar fashion.

[00188] Again, the continuous centers of rotation 1130 (n-1) and 1130 (n) are preferably located at positions rotated 90 ° with respect to each other when viewed tangentially. If so, the entire structure can be bent in any desired direction.

[00189] When the user applies a rotational force for the first time, the user is in contact with the edges 1126 (1128) at the center of rotation 1160 (1) and the surrounding material of the pin 1156 (1) and the hinge portion 1122 (1). Note that it breaks the above-mentioned breaking element in between. It should also be noted that pin 1156 (1) is shown in FIG. 11 to have the shape of an arc of a circle that is the same as slot 1158 (1) but has a shorter length. However, the pin 1156 (1) may have any other suitable shape, such as a circle. The same applies to all other breaking elements and pins 1156 (n), respectively. All pins 1156 (n) may be provided with a special mounting structure such as slotted structure 1144 (n) that supports mounting by laser welding or the like.

[00190] The mutual gap between adjacent cylindrical elements is so small that they can easily move relative to each other longitudinally unless they are attached to each other, but mutual radial play is minimal. It is kept to the limit. The gap between them can be in the range of 0.02 to 0.1 mm. The thickness of the cylindrical element is in the range of 0.1 to 2.0 mm, preferably 0.1 to 1.0 mm, more preferably 0.1 to 0.5 mm, and most preferably 0.2 to 0.4 mm. could be. The diameter of the cylindrical element can range from 0.5 to 20 mm, preferably 0.5 to 10 mm, more preferably 0.5 to 6 mm.

[00191] Although the embodiments illustrated in FIGS. 5-11 are described with reference to the distal end 13 of the steerable device, the hinges described herein are also described in other sections of the steerable device. Please understand that it can be applied.

[00192] All of the cylindrical elements described herein are preferably shape memory alloys such as stainless steel, cobalt chrome, nitinol®, plastics, polymers, composites, or other cuttables. Manufactured from a single cylindrical tube made of any suitable material such as material. Alternatively, the cylindrical element can be made by a 3D printing process. The thickness of the tube depends on its use. For medical applications, the thickness ranges from 0.1 to 2.0 mm, preferably 0.1 to 1.0 mm, more preferably 0.1 to 0.5 mm, most preferably 0.2 to 0.4 mm. could be. The diameter of the inner cylindrical element depends on its application. For medical applications, the diameter can range from 0.5 to 20 mm, preferably 0.5 to 10 mm, more preferably 0.5 to 6 mm.

[00193] Slots and openings for all cylindrical elements can be made by laser or water cutting. Smaller slots made solely to separate adjacent elements can preferably have a width in the range of 5-50 μm, more preferably 15-30 μm.

[00194] The scope of the invention is not limited to the examples described above, and a plurality of modifications and modifications thereof without departing from the scope of the invention as defined in the appended claims. Will be apparent to those skilled in the art. Although the present invention has been illustrated and described in detail in the drawings and description, such illustrations and explanations should be regarded as merely exemplary or exemplary and not limiting. The present invention is not limited to the disclosed embodiments, but comprises any combination of disclosed embodiments that can provide advantages.

[00195] The embodiment is shown with the flexible zones 14 and 15 at the proximal end of the device arranged to control the flexion of the flexible zones 16 and 17 at the distal end by two sets of longitudinal elements. ing. The bendable zones 14 and 15 can be replaced by other actuating means such as suitable motors arranged to control the movement of longitudinal elements. In a further alternative form, such actuating means may be constructed as a ball to which a longitudinal element is attached. When the ball is rotated, the longitudinal element moves longitudinally, thus controlling the bending of the flexible zones 16 and 17. This also applies to devices having only one steerable and bendable zone at its distal end, as described with reference to FIGS. 2g, 2h and 2i.

[00196] Modifications of the disclosed embodiments can be understood and achieved by those skilled in the art in carrying out the claimed invention, taking into account the figures, explanations, and the appended claims. Within the scope of the description and claims, the word "prepared" does not exclude other elements, and the indefinite article "a" or "an" does not exclude the plural. In fact, it should be interpreted as meaning "at least one." The mere fact that certain features are described in different dependent claims does not indicate that a combination of these features cannot be used in an advantageous manner. No reference code in the claims should be construed as limiting the scope of the invention. The features of the embodiments and embodiments described above can be combined as long as they are not combined to create an obvious technical conflict.

Claims (21)

A cylindrical element (520; 1100) having a central axis (520c; 1100c) and a hinge structure.
The first part (524; 1124; 522 (n-1); 1122 (n-1)) and
The second portion (522 (1); 1122 (1); 522 (n); 1122 (n)) and the second portion are located at the same distance from the central axis as the first portion. Two rotating sections (530 (1); 1130 (1); 530 (n); 1130 (n)) arranged at positions rotated 180 ° with respect to each other when viewed in the tangential direction of the cylindrical element. ) Is rotatable with respect to the first portion (524; 1124; 522 (n-1); 1122 (n-1)).
Mounting elements (502 (1); 1006; 502 (n)) and
Pins (556 (1); 1156 (1); 556 (n); 1156 (n)),
Equipped with
The rotating section (530 (1); 1130 (1); 530 (n); 1130 (n))
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) or the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ), An opening for accommodating the pin (556 (1); 1156 (1); 556 (n); 1156 (n)) is provided.
The pin (556 (1)); 1156 (1); 556 (n); 1156 (n)) is a portion (506 (1)) of the mounting element (502 (1); 1006; 502 (n)). Being attached to 506 (n)) and
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ) Is attached to another part of the attachment element (502 (1); 1006; 502 (n)).
Realized by
Thereby, the first part (524; 1124; 522 (n-1); 1122 (n-1)) and the second part (522 (1); 1122 (1); 522 (n); 1122). (N)) is a cylindrical element that cannot move relative to each other in the longitudinal, tangential, and radial directions, but is configured to rotate relative to each other about a center of rotation. The cylindrical element according to claim 1, wherein the first portion and the second portion are arranged so as not to overlap each other in a radial direction extending substantially at right angles to the central axis. The first portion or one of the second portions provided with the opening comprises a first rotating section portion (548 (1)) provided with the opening.
The other of the first portion or the second portion comprises a second rotating section portion (550 (1)) that at least partially surrounds the first rotating section portion, said second. The cylindrical element according to claim 1 or 2, wherein the rotating section portion is at least partially attached to the mounting element. The cylindrical element according to claim 3, wherein the first rotating section portion and the second rotating section portion are located at the same distance from the central axis. The cylindrical element according to claim 3 or 4, wherein the first rotating section portion and the second rotating section portion include sections having a complementary shape or a shape that rotatably fits. The first rotating section portion is formed as an extension portion (548 (1)) provided with a slot (542 (1)) defining an outer edge portion of the opening, and an island (556) forming the pin. 13. Cylindrical element. The cylindrical shape according to any one of claims 1 to 6, wherein the first portion and the second portion are made of a single cylindrical element by, for example, laser cutting or water cutting. element. The cylindrical element according to any one of claims 1 to 7, wherein the mounting element is located at a distance different from the first portion and the second portion from the central axis. Claims 1-8, wherein the mounting element is a hinge portion (502 (1); 502 (n)) of a further hinge structure within the further cylindrical element (500) located inside the cylindrical element. The cylindrical element according to any one of the above. One of claims 1-8, wherein the mounting element is a tangential spacer (1006) between adjacent steering strips (1004) within a further cylindrical element located inside the cylindrical element. Cylindrical element described in. One of claims 1-7, wherein the mounting element is a tangential spacer (1006) between adjacent steering cables (1004a) within a further cylindrical element located inside the cylindrical element. Cylindrical element described in. The opening is a circular opening having a center forming the center of rotation, and the pin (556 (1); 556 (n)) is inside the opening so as to be rotatable about the center of rotation. The cylindrical element according to any one of claims 1 to 11, which is arranged in. The opening is a slot (1158 (1); 1158 (n)) arranged along an arc of a circle having a center forming the center of rotation and the pin (1156 (1); 1156 (n)). ) Is the cylindrical element according to any one of claims 1 to 3, which is arranged in the slot so as to be movable in the slot along the arc of the circle. The cylindrical element according to any one of claims 1 to 13, wherein the pin is a disk formed by cutting out a material located in the opening before cutting the opening. A steerable device comprising the cylindrical element according to any one of claims 1 to 14. The steerable device comprises a steerable distal end portion by the steering strip (1004) or the steering cable (1004a), the steering strip (1004) being formed by cutting out the additional cylindrical element (1000). The steerable device according to claim 15, which is dependent on any one of claims 10 or 11, which is a longitudinal element. The steerable device according to claim 16, wherein the tangential spacer (1006) is a part formed by cutting out the further cylindrical element (1000). A method of manufacturing a cylindrical element having a central axis and having a hinge structure, wherein the cylindrical element is
The first part (524; 1124; 522 (n-1); 1122 (n-1)) and
The second portion (522 (1); 1122 (1); 522 (n); 1122 (n)) and the second portion are located at the same distance from the central axis as the first portion. Two rotating sections (530 (1); 1130 (1); 530 (n); 1130 (n)) arranged at positions rotated 180 ° with respect to each other when viewed in the tangential direction of the cylindrical element. ) Is rotatable with respect to the first portion (524; 1124; 522 (n-1); 1122 (n-1)).
Mounting elements (502 (1); 1006; 502 (n)) and
Pins (556 (1); 1156 (1); 556 (n); 1156 (n)),
Equipped with
The rotating section (530 (1); 1130 (1); 530 (n); 1130 (n))
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) or the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ), An opening for accommodating the pin (556 (1); 1156 (1); 556 (n); 1156 (n)) is provided.
The pin (556 (1)); 1156 (1); 556 (n); 1156 (n)) is a portion (506 (1)) of the mounting element (502 (1); 1006; 502 (n)). Being attached to 506 (n)) and
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ) Is attached to another part of the attachment element (502 (1); 1006; 502 (n)).
Realized by
Thereby, the first part (524; 1124; 522 (n-1); 1122 (n-1)) and the second part (522 (1); 1122 (1); 522 (n); 1122). (N)) cannot move with respect to each other in the longitudinal direction, the tangential direction, and the radial direction, but is configured to rotate with respect to each other about the center of rotation.
The method comprises the first portion (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); The first from a single cylindrical element (520; 1100), for example, by cutting a predetermined pattern from the cylindrical element by laser cutting or water cutting to form 1122 (n)). A method comprising forming a portion and said second portion. Inserting an additional cylindrical element (500; 1000; 1000a) inside the single cylindrical element (520; 1100) and the additional cylindrical element (500; 1000; 1000a) is said to be attached. With elements (502 (1); 1006; 502 (n))
The pin (556 (1); 1156 (1); 556 (n); 1156 (n)) is then attached to the portion of the mounting element (502 (1); 1006; 502 (n)).
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ) To another part of the mounting element (502 (1); 1006; 502 (n)).
18. The method of claim 18. While inserting the additional cylindrical element (500; 1000) inside the single cylindrical element (520; 1100), the pin (556 (1); 1156 (1); 556 (n)). Breaking one or more breaking elements that are still attached to the surrounding material of the single cylindrical element (520; 1100), and said breaking is the pin (556 (1); 1156 (1)). 556 (n); 1156 (n)) after mounting to a portion of the mounting element (502 (1); 1006; 502 (n)).
The first portion (524; 1124; 522 (n-1); 1122 (n-1)) and the second portion (522 (1); 1122 (1); 522 (n); 1122 (n)). ) To another part of the mounting element (502 (1); 1006; 502 (n)).
18. The method of claim 18 or 19. The method according to any one of claims 18 to 20, comprising the operation of manufacturing the steerable device according to any one of claims 15 to 17.

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